CN106809032A - The braking recovery system and method for train - Google Patents

The braking recovery system and method for train Download PDF

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Publication number
CN106809032A
CN106809032A CN201610841107.8A CN201610841107A CN106809032A CN 106809032 A CN106809032 A CN 106809032A CN 201610841107 A CN201610841107 A CN 201610841107A CN 106809032 A CN106809032 A CN 106809032A
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CN
China
Prior art keywords
train
traction networks
battery
predetermined threshold
braking
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Granted
Application number
CN201610841107.8A
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Chinese (zh)
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CN106809032B (en
Inventor
李道林
罗文刚
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN201610841107.8A priority Critical patent/CN106809032B/en
Publication of CN106809032A publication Critical patent/CN106809032A/en
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Publication of CN106809032B publication Critical patent/CN106809032B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/13—Trolley wires
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M3/00—Feeding power to supply lines in contact with collector on vehicles; Arrangements for consuming regenerative power
    • B60M3/06—Arrangements for consuming regenerative power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C3/00—Electric locomotives or railcars
    • B61C3/02—Electric locomotives or railcars with electric accumulators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance

Abstract

The invention discloses the braking recovery system and method for a kind of train, the system includes：Traction networks, train and energy-accumulating power station, train include：Electric brake；Battery；Distributor, it is connected with electric brake, between the two with node；Two-way DC/DC converters, its one end is connected with battery, and its other end is connected with node；First controller, it is used to be controlled in train braking distributor and two-way DC/DC converters by braking electric energy feedback to Traction networks；Energy-accumulating power station, it is connected with Traction networks, and energy-accumulating power station includes second controller, and second controller is used for the control energy-accumulating power station when the voltage of Traction networks is less than the first predetermined threshold value and is discharged to Traction networks.The present invention controls the discharge and recharge of battery and energy-accumulating power station by monitoring the voltage of Traction networks, realizes the recycling and reuse of braking electric energy, has effectively saved the energy, and efficiently controls the voltage of Traction networks, improves security.

Description

The braking recovery system and method for train
Technical field
The present invention relates to technical field of rail traffic, the braking recovery system of more particularly to a kind of train, one kind have should The braking recovery method of the train of system and a kind of train.
Background technology
With the continuous expansion of city size, traffic increasingly congestion, track train, such as light rail, subway etc. have turned into mesh The main traffic mode in preceding many cities.Train can produce substantial amounts of braking electric energy during braking, with environmental protection Theory constantly deepen, the problem that train braking electric energy is reclaimed and recycled is very urgent.Related skill existing at present Art is disclosed, and battery is set among train braking electric energy is reclaimed, and be train power supply.But produced during train braking Braking electric energy is very big, if to be absorbed by on-vehicle battery, needs to install substantial amounts of battery ON TRAINS, not only sternly Increase the weight of train again, influence the energy consumption of train operation, and also unnecessary cost can be increased.
Therefore, correlation technique needs to be improved.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.Therefore, of the invention One purpose is the braking recovery system for proposing a kind of train, and the system can realize braking the recycling and reuse of electric energy.
It is another object of the present invention to the braking recovery method for proposing a kind of train.
To reach above-mentioned purpose, a kind of braking recovery system of train that one aspect of the present invention embodiment is proposed, including：Lead Draw net, train and energy-accumulating power station, the train includes：Electric brake；Battery；Distributor, the distributor and the electric braking Device is connected, and has node between the distributor and the electric brake；Two-way DC/DC converters, the two-way DC/DC conversion One end of device is connected with the battery, and the other end of the two-way DC/DC converters is connected with the node；First controller, First controller is connected with the distributor and the two-way DC/DC converters, and first controller is used for described The distributor and the two-way DC/DC converters are controlled during train braking will brake electric energy feedback to the Traction networks；Energy storage Power station, the energy-accumulating power station is connected with the Traction networks, and the energy-accumulating power station includes second controller, and the second controller is used The energy-accumulating power station is controlled to be discharged to the Traction networks when voltage in the Traction networks is less than the first predetermined threshold value.
The braking recovery system of the train for proposing according to embodiments of the present invention, the first controller controls to match somebody with somebody in train braking Electrical equipment and two-way DC/DC converters will brake electric energy and feed back to Traction networks, and second controller is less than first in the voltage of Traction networks Control energy-accumulating power station to be discharged to Traction networks during predetermined threshold value, so as to avoid the brownout of Traction networks, maintain Traction networks Normal work.In embodiments of the present invention, if train on Traction networks relatively it is many load it is larger, under the voltage of Traction networks Drop, now in order to avoid the voltage of Traction networks is less than minimum rated voltage, it is necessary to control energy-accumulating power station to be discharged to Traction networks. The embodiment of the present invention is discharged Traction networks by energy-accumulating power station, it is achieved thereby that the recycling and reuse of braking electric energy, subtract Lack energy waste, reduce the load of Traction networks.Also, the embodiment of the present invention can be protected with the voltage of effective monitoring Traction networks Protecting system parts, improve security of system.
According to one embodiment of present invention, first controller controls described two-way according to the voltage of the Traction networks DC/DC converters are absorbed by the battery to the braking electric energy of the train.
According to one embodiment of present invention, first controller is used for pre- more than second in the voltage of the Traction networks If during threshold value, controlling the two-way DC/DC converters to enter charge mode so that the battery absorbs the braking electric energy.
According to one embodiment of present invention, first controller is used for pre- less than the 3rd in the voltage of the Traction networks If during threshold value, controlling the two-way DC/DC converters to close so that the battery stops absorbing the braking electric energy, wherein, institute The 3rd predetermined threshold value is stated less than second predetermined threshold value.
According to one embodiment of present invention, the train also includes：Coulometric detector, the coulometric detector with it is described First controller is connected, and the coulometric detector is used to detect the electricity of the battery, wherein, when the battery absorbs the system During electrokinetic energy, first controller is additionally operable to, when the electricity of the battery is more than the first power threshold, control described two-way DC/DC converters are closed so that the battery stops absorbing the braking electric energy.
According to one embodiment of present invention, the train also includes：Mechanical brake, for carrying out mechanical system to train It is dynamic.
According to one embodiment of present invention, after the battery absorbs the braking electric energy, first controller It is additionally operable to, when the voltage of the Traction networks is more than four predetermined threshold values, control the mechanical brake to start and coordinate the electricity system Dynamic device is braked to the train, wherein, the 4th predetermined threshold value is more than second predetermined threshold value.
According to one embodiment of present invention, the second controller is used for pre- more than the 5th in the voltage of the Traction networks If during threshold value, controlling the energy-accumulating power station to be charged, the 5th predetermined threshold value is more than first predetermined threshold value.
According to one embodiment of present invention, after the energy-accumulating power station discharges to the Traction networks, second control Device processed is used to, when the voltage of the Traction networks is more than six predetermined threshold values, control the energy-accumulating power station to stop electric discharge, wherein, institute The 6th predetermined threshold value is stated more than the 5th predetermined threshold value.
According to one embodiment of present invention, first controller is additionally operable to be less than the 7th in the voltage of the Traction networks During predetermined threshold value, the two-way DC/DC converters are controlled to enter discharge mode so that the battery of the train is to the Traction networks Discharged, wherein, the 7th predetermined threshold value is less than first predetermined threshold value.
According to one embodiment of present invention, when the battery is discharged to the Traction networks, first control Device is additionally operable to, when the electricity of the battery is less than the second power threshold, control the two-way DC/DC converters to close so that institute State battery and stop electric discharge.
According to one embodiment of present invention, the train also includes：Contactor detector, the contactor detector with First controller is connected, and the contactor detector is used to detect whether the contactor of the train disconnects, wherein, it is described First controller is additionally operable to after the contactor disconnects, and controls the distributor to close, and controls the two-way DC/DC to become Parallel operation carries out discharge mode so that the battery is the train power supply, and controls the train limit Power operation.
According to one embodiment of present invention, the energy-accumulating power station can be multiple, and the multiple energy-accumulating power station is according to default Apart from interval setting.
According to one embodiment of present invention, interior per 3-6 kilometers two energy-accumulating power stations, the energy-accumulating power station can be set Power can be 0.5-2MW.
According to one embodiment of present invention, the train can be straddle-type monorail train.
According to one embodiment of present invention, the braking recovery system of the train also includes：Bogie, the bogie It is suitable to straddle seat on track girder；Car body, the car body is connected and by bogie traction along the track with the bogie Beam is travelled.
According to one embodiment of present invention, the bogie includes：Bogie frame, the bogie frame be suitable to across Seat is connected on the track girder and with the car body；Travelling wheel, the travelling wheel is pivotably mounted on the steering structure On frame and coordinate on the upper surface of the track girder；Power set, the power set are arranged on the bogie frame And be connected with the travelling wheel；Horizontal wheels, the horizontal wheels are pivotably mounted on the bogie frame and coordinate On the side surface of the track girder.
According to one embodiment of present invention, the bogie also includes：Draw-gear, the draw-gear is arranged on institute State on bogie frame and be connected with the car body；Supported and suspended device, the supported and suspended device is arranged on the bogie It is connected on framework and with the car body.
To reach above-mentioned purpose, a kind of braking recovery method of train that another aspect of the present invention embodiment is proposed, including Following steps：The train is braked, and according to brake force generation braking electric energy, and the braking electric energy is fed back to and leads Draw net；Monitor the voltage of the Traction networks；Judge the voltage of the Traction networks whether less than the first predetermined threshold value；If described lead Draw the voltage of net less than the first predetermined threshold value, then control energy-accumulating power station to be discharged to the Traction networks.
The braking recovery method of the train for proposing according to embodiments of the present invention, brakes to train, and the braking for producing Electric energy feeds back to Traction networks, and monitors the voltage of Traction networks, and then is controlled when the voltage of Traction networks is less than the first predetermined threshold value Energy-accumulating power station is discharged to Traction networks.In embodiments of the present invention, if train on Traction networks relatively it is many load it is larger, Then the voltage of Traction networks declines, now in order to avoid the voltage of Traction networks is less than minimum rated voltage, it is necessary to control energy-accumulating power station Discharged to Traction networks.The embodiment of the present invention is discharged Traction networks by energy-accumulating power station, it is achieved thereby that braking electric energy Recycling and reuse, reduce energy waste, reduce the load of Traction networks.Also, the embodiment of the present invention can also be supervised effectively The voltage of Traction networks is controlled, protection system parts improve security of system.
According to one embodiment of present invention, the braking recovery method of the train also includes：According to the Traction networks Voltage controls the battery of the train to absorb the braking electric energy of the train.
According to one embodiment of present invention, the braking recovery method of the train also includes：Judge the Traction networks Whether voltage is more than the second predetermined threshold value；If the voltage of the Traction networks is more than the second predetermined threshold value, the battery is controlled Absorb the braking electric energy.
According to one embodiment of present invention, the braking recovery method of the train also includes：Judge the Traction networks Whether voltage is less than the 3rd predetermined threshold value；If the voltage of the Traction networks is less than the 3rd predetermined threshold value, the battery is controlled Stop absorbing the braking electric energy, wherein, the 3rd predetermined threshold value is less than second predetermined threshold value.
According to one embodiment of present invention, the braking recovery method of the train also includes：Detect the electricity of the battery Amount, and judge the electricity of the battery whether more than the first power threshold；If the electricity of the battery is more than the described first electricity Amount threshold value, then control the battery to stop absorbing the braking electric energy.
According to one embodiment of present invention, the braking recovery method of the train also includes：Judge the Traction networks Whether voltage is more than the 4th predetermined threshold value；If the voltage of the Traction networks is more than the 4th predetermined threshold value, train is controlled Carry out mechanical braking and coordinate implementing electric braking and braking the train, wherein, the 4th predetermined threshold value is more than described the Two predetermined threshold values.
According to one embodiment of present invention, the braking recovery method of the train also includes：Judge the Traction networks Whether voltage is more than the 5th predetermined threshold value；If the voltage of the Traction networks is more than the 5th predetermined threshold value, control is described Energy-accumulating power station is charged, and the 5th predetermined threshold value is more than first predetermined threshold value.
According to one embodiment of present invention, the braking recovery method of the train also includes：Judge the Traction networks Whether voltage is more than the 6th predetermined threshold value；If the voltage of the Traction networks is more than the 6th predetermined threshold value, control is described Energy-accumulating power station stops electric discharge, wherein, the 6th predetermined threshold value is more than the 5th predetermined threshold value.
According to one embodiment of present invention, the braking recovery method of the train also includes：Judge the Traction networks Whether voltage is less than the 7th predetermined threshold value；If the voltage of the Traction networks is less than the 7th predetermined threshold value, the train is controlled Battery discharged to the Traction networks, wherein, the 7th predetermined threshold value be less than first predetermined threshold value.
According to one embodiment of present invention, the braking recovery method of the train also includes：Detect the electricity of the battery Amount, and judge the electricity of the battery whether less than the second power threshold；If the electricity of the battery is less than the described second electricity Amount threshold value, then control the battery to stop electric discharge.
According to one embodiment of present invention, the braking recovery method of the train also includes：Detect the contactor of train Whether disconnect；If detecting the contactor to disconnect, the battery is controlled for the train power supply, and control the train Limit Power operation.
Brief description of the drawings
Fig. 1 is the block diagram of the braking recovery system of the train according to the embodiment of the present invention；
Fig. 2 is the block diagram of the braking recovery system of the train according to one embodiment of the invention；
Fig. 3 is the circuit theory diagrams of the braking recovery system of the train according to one embodiment of the invention, wherein, Traction networks Voltage U be more than the first predetermined threshold value U1；
Fig. 4 is the circuit theory diagrams of the braking recovery system of the train according to one embodiment of the invention, wherein, Traction networks Voltage U be less than the second predetermined threshold value U2；
Fig. 5 is the circuit theory diagrams of the braking recovery system of the train according to one embodiment of the invention, wherein, Traction networks Voltage U be more than the 4th predetermined threshold value U4；
Fig. 6 is the circuit theory diagrams of the braking recovery system of the train according to one embodiment of the invention, wherein, Traction networks Voltage U be less than the 5th predetermined threshold value U5；
Fig. 7 is the circuit theory diagrams of the braking recovery system of the train according to one embodiment of the invention, wherein, Traction networks Voltage U be less than the 7th predetermined threshold value U7；
Fig. 8 is according to a block diagram for the braking recovery system of the train of specific embodiment of the invention；
Fig. 9 is the block diagram of the braking recovery system of the train according to another specific embodiment of the invention；
Figure 10 is the block diagram of the braking recovery system of the train according to another specific embodiment of the invention；
Figure 11 is according to an operation principle schematic diagram for the braking recovery system of the train of specific embodiment of the invention；
Figure 12 is the block diagram of the train according to the embodiment of the present invention；
Figure 13 is the flow chart of the braking recovery method of the train according to the embodiment of the present invention；
Figure 14 is the flow chart of the braking recovery method of the train according to one embodiment of the invention；
Figure 15 is the flow chart of the braking recovery method of the train according to another embodiment of the present invention；
Figure 16 is the flow chart of the charge-discharge electric power method for limiting of the battery of the train according to one embodiment of the invention；
Figure 17 is the flow chart of the braking recovery method according to one train of specific embodiment of the present invention；And
Figure 18 is the flow chart of the braking recovery method according to the train of another specific embodiment of the invention.
Reference：
Traction networks 1, train 2 and energy-accumulating power station 3；
Electric brake 201, battery 202, distributor 203, the controller 205 of two-way DC/DC converters 204 and first；Second Controller 301；
Coulometric detector 206, mechanical brake 207 and contactor detector 208；
Bogie 20 and car body 30；
Bogie frame 21, travelling wheel 22, power set 23 and horizontal wheels 24；
Draw-gear 25 and supported and suspended device 26.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached It is exemplary to scheme the embodiment of description, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below with reference to the accompanying drawings come describe the embodiment of the present invention proposition train braking recovery system and method.
As shown in figure 1, being the block diagram of the braking recovery system of the train according to the embodiment of the present invention.Such as Fig. 1 institutes Show, the braking recovery system of the train includes：Traction networks 1, the multiple trains 2 being connected on Traction networks 1, and it is arranged on traction Multiple energy-accumulating power stations 3 on net 1.Wherein, Traction networks 1 provide direct current to multiple trains 2, and train 2 is by electricity getting device from leading Draw power taking among net.In one embodiment of the invention, train 2 is straddle-type monorail train.In an embodiment of the present invention, In the voltage reduction of Traction networks 1, can be discharged to Traction networks 1 by energy-accumulating power station 3, to improve the voltage of Traction networks 1. In an embodiment of the present invention, among energy-accumulating power station 3 can be set AT STATION, by the braking electric energy of absorption for station is supplied Air-conditioning, multimedia, light of electricity, for example, station etc. are powered.In an embodiment of the present invention, energy-accumulating power station 3 is according to pre- If apart from interval setting, such as interior per 3-6 kilometers to set two energy-accumulating power stations 3, the power of each energy-accumulating power station 3 is 0.5-2MW. Certain those skilled in the art according to the specific operating environment of train 2, can select the quantity and power of suitable energy-accumulating power station 3. The braking electric energy that can be produced to train 2 by the battery of train 2 and/or energy-accumulating power station 3 in one embodiment of the invention Reclaimed.For train 2, the braking electric energy of itself generation can be not only absorbed, it is also possible to absorb other trains 2 and produce Braking electric energy.Because train 2 is when to 1 regenerative braking electric energy of Traction networks, the voltage of Traction networks 1 can be raised, therefore the He of train 2 Energy-accumulating power station 3 can be monitored to the voltage of Traction networks 1.When the voltage of Traction networks 1 is raised, can be by the battery of train 2 Or energy-accumulating power station 3 is absorbed, so as to the voltage for preventing Traction networks 1 exceedes maximum rated voltage, and break down.Specifically Absorption process, will describe in detail below in an example.In an embodiment of the present invention, the battery of train 2 absorbs Braking electric energy can be used for illumination, air-conditioning, the multimedia electricity consumption of train 2.In other embodiments of the invention, train 2 The braking electric energy that battery absorbs can be also used for the emergency driving of train 2, such as when train 2 cannot obtain electric energy from Traction networks 1, As Traction networks 1 break down, or, when not having Traction networks 1, train 2 can switch to battery power.
As shown in Fig. 2 being the block diagram of the braking recovery system of the train according to one embodiment of the invention.In order to It is easy to description, an energy-accumulating power station is illustrate only in this embodiment.Train 2 includes：Electric brake 201, battery 202, distribution Device 203, the controller 205 of two-way DC/DC converters 204 and first.
Wherein, as shown in Fig. 2 distributor 203 is connected with drawing electric network 1 and electric brake 201, distributor 203 and electricity are made There is node between dynamic device 201；One end of two-way DC/DC converters 204 is connected with battery 202, two-way DC/DC converters 204 The other end be connected with the node between distributor 203 and electric brake 201.First controller 205 and distributor 203 and two-way DC/DC converters 204 are connected, and the first controller 205 is used to control distributor 203 and two-way DC/DC conversion in train braking Device 204 will brake electric energy feedback to Traction networks 1, for example, open distributor 203, and two-way DC/DC converters 204 are closed, So as to braking electric energy is directly fed back into Traction networks 1.Also, in one embodiment of the invention, energy-accumulating power station 3 and Traction networks 1 is connected, and energy-accumulating power station 3 includes second controller 301, and second controller 301 is used to be preset less than first in the voltage U of Traction networks Energy-accumulating power station 3 is controlled to be discharged during threshold value.Wherein, energy-accumulating power station 3 may include at least one energy-storage battery and corresponding two-way DC/DC converters.In an embodiment of the present invention, as shown in Fig. 2 energy-accumulating power station 3 may include multiple 160KW-80KWh modules, The positive pole of multiple 160KW-80KWh modules is connected, and is connected with the positive pole of Traction networks 1 by positive pole cabinet, multiple 160KW-80KWh The negative pole of module is connected, and is connected with the negative pole of Traction networks 1 by negative pole cabinet.
Specifically, when train 2 is braked, traction electric machine is changed into generator operating mode, electricity system from motor working condition Dynamic device 201 produces braking electric energy and braking electric energy is fed back into Traction networks.When the train quantity on Traction networks 1 is more, that is, draw When load on net 1 is larger, the voltage U of Traction networks 1 can be reduced, and now the real-time monitoring of second controller 301 of energy-accumulating power station 3 is led Draw the voltage U of net 1, when the voltage U of Traction networks 1 is less than the first predetermined threshold value U1, the control energy-accumulating power station 3 of second controller 301 Discharged to improve the voltage of Traction networks 1.If the voltage U of Traction networks 1 continues to reduce, the first controller 205 is also controllable Battery processed 202 is discharged to improve the voltage of Traction networks 1.
According to one embodiment of present invention, the first controller 205 controls two-way DC/DC to become according to the voltage U of Traction networks 1 Parallel operation 204 is absorbed by battery 202 to the braking electric energy of train.In an embodiment of the present invention, when the row on Traction networks 1 Car negligible amounts are that the load on Traction networks 1 is smaller, or on Traction networks 1 brake train it is more when, feed back on Traction networks 1 Braking electric energy can exceed Traction networks 1 on train operation needed for electric energy, so as to cause the rising of the voltage U of Traction networks.This When, the voltage U of the real-time monitoring Traction networks 1 of the first controller 205 is preferential by the first control when the voltage U of Traction networks 1 is raised The battery 202 of the control train 2 of device processed 205 absorbs braking electric energy.Meanwhile, the monitoring Traction networks of second controller 301 of energy-accumulating power station 3 Voltage U, if the voltage U of Traction networks 1 continues to raise after the battery of train 2 is absorbed, second controller 301 controls Energy-accumulating power station processed 3 absorbs electric energy and is charged from Traction networks 1.
It should be noted that the battery 202 of train 2 can be powered for the illumination of train, air-conditioning, multimedia.Energy storage Power station 3 be may be provided among station, and the braking electric energy for reclaiming is used to be supplied for illumination, air-conditioning, the multimedia at station etc. Electricity.So, braking electric energy can be for recycling and reuse by battery 202 and energy-accumulating power station 3, while power transformation can be reduced The load stood, has saved the energy.
Also, it should be noted that battery 202 is arranged on train 2, the braking electric energy of train generation can be quickly absorbed, by In the distance between energy-accumulating power station 3 and train 2 farther out, energy-accumulating power station 3 is caused to absorb braking electric energy delayed.Therefore, in the present invention Embodiment in prioritizing selection battery 202 absorb braking electric energy, with realize brake electric energy quick absorption, so as to prevent not inhaled Receive or the braking electric energy of consumption causes the voltage U of Traction networks to raise, protect the parts of system, it is to avoid on Traction networks 1 Electrical equipment is damaged, and improves the security of system.
Another specific embodiment of the invention, if it is Traction networks 1 there was only the operation of rows of cars 2 on Traction networks 1 It is upper to absorb braking electric energy without other trains, and the braking electric energy that the braking of train 2 is produced is larger, then brake electric energy main by energy storage Power station 3 absorbs, and for example the control of the first controller 205 battery 202 absorbs the 30% of braking electric energy first, then second controller 301 control energy-accumulating power stations 3 absorb the 70% of braking electric energy, to complete the recovery of braking electric energy.
Another specific embodiment of the invention, if there is multiple row train 2 to run on Traction networks 1, and in energy storage electricity Stand after 3 absorption braking electric energy, the voltage U of Traction networks 1 continues to raise, then can be by the non-brake train on Traction networks 1 Charged to the battery 202 of non-brake train.Assuming that the braking electric energy for not absorbed or being consumed on Traction networks 1 is Q ＇, traction There are N row trains on net 1, then the average value of the braking electric energy that the battery 202 of each train absorbs on Traction networks 1 is Q ＇/N.At this In inventive embodiment, because the braking electric energy that train braking is produced is very big, such as shown in table 1, it can be seen that in AW2 and The braking electric energy more than 220KW can be produced under the operating mode of AW3.If now absorbing these braking electricity using the on-vehicle battery of train Can, then the on-vehicle battery of train can be caused very big.Therefore in an embodiment of the present invention, for such situation using battery and Energy-accumulating power station is combined and absorbed, so as to avoid that substantial amounts of battery is set on train.
Table 1
Thus, the embodiment of the present invention absorbs braking electric energy by controlling battery and energy-accumulating power station on train, realizes system The recycling and reuse of electrokinetic energy, reduce energy waste, reduce the load of Traction networks.Also, the embodiment of the present invention can be with The voltage of effective monitoring Traction networks, protection system parts improve security of system.
The concrete operating principle of the braking recovery system of the train of the embodiment of the present invention is analyzed below with reference to Fig. 3-7.
According to one embodiment of present invention, as shown in figure 3, the first controller 205 monitors the voltage U of Traction networks, when sentencing The voltage U of disconnected Traction networks 1 is more than the second predetermined threshold value U2, such as during 845V, the first controller 205 controls two-way DC/DC to convert Device 204 is opened, and controls two-way DC/DC converters 204 to enter charge mode, so that battery absorbs braking electric energy.Now, circuit In the direction that indicates according to arrow shown in Fig. 3 of electric energy flow, wherein, the braking electric energy that train 2 is produced feeds back to Traction networks 1, And the battery 202 of train 2 absorbs braking electric energy.In one embodiment of the invention, when the first controller 205 control it is two-way When DC/DC converters 204 enter discharge mode, on high-tension side DC power conversion is and battery by two-way DC/DC converters 204 The direct current of 202 voltage matches, with the i.e. control battery 202 absorption braking electric energy that charged to battery 202；When the first control When device 205 controls two-way DC/DC converters 204 to enter discharge mode, two-way DC/DC converters 204 are used to provide on battery 202 Direct current be changed into direct current with the voltage matches of Traction networks 1, will be in battery 202 to control battery 202 to carry out electric discharge The braking electric energy of storage feeds back to Traction networks 1.
According to one embodiment of present invention, as shown in figure 4, the first controller 205 monitors the voltage U of Traction networks, sentencing The voltage U of disconnected Traction networks 1 is less than the 3rd predetermined threshold value U3, such as during 830V, the first controller 205 controls two-way DC/DC to convert Device 204 close so that battery 202 stop absorb braking electric energy, wherein, the 3rd predetermined threshold value U3 be less than the second predetermined threshold value U2.This When, the electric energy in circuit flows according to the direction that arrow shown in Fig. 4 is indicated, and the braking electric energy that train 2 is produced feeds back to Traction networks 1, and the battery 202 and energy-accumulating power station 3 of train 2 do not absorb braking electric energy.
Specifically, as shown in Figures 3 and 4, when train 2 is braked, braking electric energy feeds back to Traction networks 1, the first control The voltage U of the real-time monitoring Traction networks of device processed 205, if the voltage U of Traction networks is more than the second predetermined threshold value U2, such as 845V, says The bright braking electric energy now fed back on Traction networks 1 is superfluous, then the first controller 205 controls two-way DC/DC converters 204 to work In charge mode so that braking electric energy to be charged as battery 202.Now, the braking electric energy that train 2 is produced is fed back by distributor 203 To Traction networks 1, while being charged to battery 202 by two-way DC/DC converters 204, i.e., absorbing part by battery 202 makes Electrokinetic energy.If the voltage U of Traction networks is less than the 3rd predetermined threshold value U3, such as 830V afterwards, illustrate now to feed back to Traction networks 1 On braking electric energy and Traction networks 1 on load request basically reached balance, then the first controller 205 controls two-way DC/DC Converter 204 is closed.Now, control battery 202 stops absorbing braking electric energy, and the braking electric energy that train 2 is produced passes through distributor 203 feed back to Traction networks 1.
The battery 202 of embodiment of the present invention prioritizing selection train 2 absorbs braking electric energy, to realize braking the quick suction of electric energy Receive, so that, prevent the braking electric energy not consumed from causing the voltage U of Traction networks to raise, it is to avoid the device failure on Traction networks 1.
According to one embodiment of present invention, as shown in figure 5, second controller 301 monitors the voltage U of Traction networks, sentencing The voltage U of disconnected Traction networks 1 is more than the 5th predetermined threshold value U5, such as during 855V, the control energy-accumulating power station 3 of second controller 301 is carried out Charge, the 5th predetermined threshold value U5 is more than the first predetermined threshold value U1.Now, the electric energy in circuit is indicated according to arrow shown in Fig. 5 Direction is flowed, and the braking electric energy that train 2 is produced feeds back to Traction networks 1, and the battery 202 and energy-accumulating power station 3 of train 2 absorb Braking electric energy.In an embodiment of the present invention, when the battery of train 2 starts to absorb braking electric energy, now due on Traction networks 1 Train it is less, or the train 2 now braked is more, therefore the voltage of Traction networks 1 can also continue to increase.When Traction networks 1 Voltage U is more than the 5th predetermined threshold value U5, such as during 855V, control energy-accumulating power station 3 absorbs electric energy and charged from Traction networks 1, from And avoid the voltage of Traction networks from exceeding maximum rated voltage.
Similarly, according to one embodiment of present invention, as shown in fig. 6, second controller 301 monitors the voltage of Traction networks U, is judging the voltage U of Traction networks 1 less than the first predetermined threshold value U1, such as during 810V, the control energy-accumulating power station of second controller 301 3 are discharged.Now, the electric energy in circuit flows according to the direction that arrow shown in Fig. 6 is indicated, the braking electric energy that train 2 is produced Traction networks 1 are fed back to, and energy-accumulating power station 3 discharges Traction networks 1.In an embodiment of the present invention, if on Traction networks 1 The more voltage that may result in Traction networks of train declines, and now in order to avoid the voltage of Traction networks is less than minimum rated voltage, needs Energy-accumulating power station 3 is controlled to be discharged to Traction networks 1.In one particular embodiment of the present invention, there is multiple on Traction networks 1 Energy-accumulating power station 3, prioritizing selection electricity energy-accumulating power station 3 high discharges to Traction networks, the work(of such as electricity electric discharge of energy-accumulating power station 3 high Rate is big, and the power of the low electric discharge of energy-accumulating power station 3 of electricity is smaller, so as to reach the electric quantity balancing between energy-accumulating power station 3.
According to one embodiment of present invention, after energy-accumulating power station 3 discharges to Traction networks 1, second controller 301 is monitored The voltage U of Traction networks, when the voltage U for judging Traction networks 1 is more than the 6th predetermined threshold value U6, the control energy storage of second controller 301 Power station 3 stops electric discharge, wherein, the 6th predetermined threshold value U6 is more than the 5th predetermined threshold value U5.
According to one embodiment of present invention, as shown in fig. 7, the first controller 205 monitors the voltage U of Traction networks, sentencing Break when the voltage U of Traction networks 1 is less than the 7th predetermined threshold value U7, the first controller 205 controls two-way DC/DC converters 204 to open Open, and control two-way DC/DC converters 204 to enter discharge mode, so that the battery 202 of train 2 is discharged to Traction networks 1, Wherein, the 7th predetermined threshold value U7 is less than the first predetermined threshold value U1.Now, the electric energy in circuit is indicated according to arrow shown in Fig. 7 Direction is flowed, and the braking electric energy that train 2 is produced feeds back to Traction networks 1, and energy-accumulating power station 3 and battery 202 are carried out to Traction networks 1 Electric discharge.In embodiments of the present invention, if the voltage U of Traction networks 1 is too small, the battery of control energy-accumulating power station 3 and train 2 enters Row electric discharge, so as to the voltage of Traction networks 1 quickly be improved.
Specifically, if as shown in figure 5, the train on Traction networks 1 is less, or the train 2 now braked is more, then After the battery 202 of train 2 starts to absorb braking electric energy, the voltage of Traction networks 1 continues to increase, when the voltage U of Traction networks is big When the 5th predetermined threshold value U5, such as 855V, second controller 301 controls energy-accumulating power station 3 to enter from the absorption braking electric energy of Traction networks 1 Row charges, to mitigate the pressure that battery 202 absorbs braking electric energy, so as to the voltage U for avoiding Traction networks 1 exceedes Traction networks 1 most Big rated voltage Un.If the more voltage that may result in Traction networks of train on Traction networks 1 declines, as the voltage U of Traction networks 1 Less than the first predetermined threshold value U1, such as during 810V, the control energy-accumulating power station 3 of second controller 301 is discharged to Traction networks 1.
Further, after energy-accumulating power station 3 discharges to Traction networks 1, the voltage U of Traction networks gos up, second controller 301 Continue the voltage U of monitoring Traction networks, when the voltage U of Traction networks is more than the 6th predetermined threshold value U6, such as during 830V, illustrate now anti- The braking electric energy being fed on Traction networks 1 has basically reached balance with the load on Traction networks 1, then the control of second controller 301 storage Can the stopping electric discharge of power station 3.
Further, if as shown in fig. 7, the train quantity on Traction networks 1 is more, carried out in control energy-accumulating power station 3 After electric discharge, the voltage U of Traction networks may proceed to reduce, when the voltage U of Traction networks is less than the 7th predetermined threshold value U7, the second control The control energy-accumulating power station 3 of device 301 is discharged to Traction networks 1, meanwhile, the first controller 205 controls two-way DC/DC converters 204 Open, and control two-way DC/DC converters 204 to enter discharge mode, so that the battery 202 of train 2 is put to Traction networks 1 Electricity, so as to the voltage of Traction networks 1 quickly be improved.Wherein, the discharge power of battery 202 is the maximum allowable electric discharge of battery 202 Smaller value in the maximum allowable discharge power of power and two-way DC/DC converters 204.
According to one embodiment of present invention, energy-accumulating power station 3 can be multiple, and multiple energy-accumulating power stations 3 are according between predeterminable range Every setting.In an embodiment of the present invention, it is car with the braking electric energy that will be absorbed among energy-accumulating power station 3 can be set AT STATION Station is powered, and for example, the air-conditioning at station, multimedia, light etc. are powered.
According to one embodiment of present invention, interior per 3-6 kilometers two energy-accumulating power stations 3, the power of energy-accumulating power station 3 can be set Can be 0.5-2MW.Wherein, those skilled in the art can select suitable energy-accumulating power station 3 according to the specific operating environment of train 2 Quantity and power.
According to one embodiment of present invention, as shown in figure 8, train 2 also includes：Coulometric detector 206, wherein, electricity Detector 206 is connected with the first controller 205, and coulometric detector 206 is used to detect the electricity of battery 202, wherein, work as battery During 202 absorption braking electric energy, the first controller 205 is additionally operable to be more than the first power threshold Q1 in the electricity Q of battery 202, for example When 80%, two-way DC/DC converters 204 are controlled to close so that battery 202 stops absorbing braking electric energy.In embodiments of the invention In, the charge power and discharge power of battery 202 are restricted, and the electricity after braking electric energy is absorbed of battery 202 can increase, if The electricity of battery 202 is excessive, can influence the service life of battery 202, therefore, when electricity Q is more than the first power threshold Q1, control Make two-way DC/DC converters 204 to close, braking electric energy is absorbed to control battery 202 to stop.
According to one embodiment of present invention, when battery 202 is discharged to Traction networks 1, if the electricity of battery 202 Q be less than the second power threshold Q2, such as 50%, then the first controller 205 control two-way DC/DC converters 204 to close so that electricity Pond 202 stops electric discharge.In an embodiment of the present invention, electricity can reduce battery 202 after discharge, when electricity Q is less than second During power threshold Q2, two-way DC/DC converters 204 are controlled to close, to control battery 202 to stop electric discharge.
Specifically, the charge power and discharge power of battery 202 are restricted, and battery is controlled in the first controller 205 202 when carrying out discharge and recharge, by electricity SOC (the State of Charge, lotus of the real-time detection battery 202 of coulometric detector 206 Electricity condition), and determine whether that battery 202 carries out discharge and recharge according to the electricity Q of battery 202.
Specifically, when battery 202 absorbs braking electric energy, the first controller 205 judges whether the electricity Q of battery 202 is big In the first power threshold Q1 such as 80%, if the electricity Q of battery 202 is more than 80%, by the maximum allowable charging of battery 202 Power limit is 0, now controls two-way DC/DC converters 204 to close, and braking electric energy is absorbed to control battery 202 to stop；If The electricity of battery 202 is less than or equal to 80%, then two-way DC/DC converters 204 keep it turned on to control battery 202 to continue to absorb system Electrokinetic energy.
Further, when battery 202 is discharged to Traction networks 1, the first controller 205 judges the electricity Q of battery 202 Whether the second power threshold Q2 such as 50% is less than, if the electricity Q of battery 202 is less than 50%, the maximum of battery 202 is permitted Perhaps discharge power is limited to 0, and now, the first controller 205 controls two-way DC/DC converters 204 to close to control battery 202 to stop Only discharge.
According to one embodiment of the present of invention, as shown in figure 9, train 2 also includes：Mechanical brake 207, wherein, machinery system Dynamic device 207 is used to carry out mechanical braking to train 2.
According to one embodiment of present invention, after battery 202 absorbs braking electric energy, when the voltage U of Traction networks is more than During the 4th predetermined threshold value U4,205 control machinery brake of the first controller 207 starts cooperation electric brake 201 to be carried out to train 2 Braking, wherein, the 4th predetermined threshold value is more than the second predetermined threshold value.In an embodiment of the present invention, if train on Traction networks 1 It is less, or the train now braked is more, then after battery 202 and energy-accumulating power station 3 absorb braking electric energy, Traction networks 1 Voltage U may proceed to increase, and when the voltage of Traction networks 1 is more than the 4th predetermined threshold value U4, control machinery brake 207 starts, with Auxiliary braking is carried out to train 2.
Specifically, after battery 202 and energy-accumulating power station 3 absorb braking electric energy, the voltage U of Traction networks may proceed to increase Plus, the voltage U of the real-time monitoring Traction networks of the first controller 205, if the voltage U of Traction networks is more than the 4th predetermined threshold value U4, The control machinery brake 207 of first controller 205 starts, and so, mechanical braking is passed through while electric braking is carried out to train 2 Auxiliary braking is carried out to train 2, to reduce the braking electric energy of the generation of train 2, so as to the voltage U for avoiding Traction networks exceedes maximum Determine voltage, and precisely quick parking can be realized.
It should be noted that when the travel speed of train 2 is less than 5Km/h or needs inlet parking, can equally control Mechanical brake processed 207 is opened and braked with to train 2.
According to one embodiment of present invention, as shown in Figure 10, train 2 also includes：Contactor detector 208, wherein, connect Tentaculum detector 208 is connected with the first controller 205, and contactor detector 208 is used to detect whether the contactor of train 2 breaks Open, wherein, after detecting contactor and disconnecting, the first controller 205 controls two-way DC/DC converters 204 to open, and controls Two-way DC/DC converters 204 control train 2 to limit Power operation into discharge mode so that battery 202 is powered for train 2.
Specifically, when contactor detector 208 detects contactor to be disconnected, illustrate that train 2 is in abnormal electrical power supply shape The state such as failure of Traction networks 1 power-off, the first controller 205 judges that train 2 enters emergency driving pattern, and sends emergent traction letter Number, to control two-way DC/DC converters 204 to open, and control two-way DC/DC converters 204 to enter discharge mode, now, electricity The electric energy of storage is fed back to Traction networks 1 by pond 202 by distributor 203.Meanwhile, the first controller 205 controls putting for battery 202 Electrical power is less than or equal to predetermined power threshold value such as 70KW, so that train 2 operates in limit power rating.
Thus, the emergency driving of train is realized by battery 202, it is to avoid the train scheduling for causing of casting anchor on the way is difficult Problem, while avoiding failure train occupation working line.
As described above, as shown in figure 11, so that the voltage class of Traction networks is as 750VDC as an example, the braking of the embodiment of the present invention The recycling and reuse of electric energy it is tactful specific as follows：
One) recovery of electric energy is braked
According to one embodiment of present invention, in train braking, voltage, the electricity of on-vehicle battery 202 according to Traction networks The quantity of the train 2 in amount and Traction networks 1 carrys out the comprehensive distribution for carrying out braking electric energy, braking electric energy feed back to Traction networks 1 it Afterwards, consumption absorption first is carried out by other vehicles on train, superfluous braking electric energy preferentially controls battery by the first controller 205 202 are absorbed, and when on-vehicle battery 202 cannot absorb or absorbability is limited, energy-accumulating power station are controlled by second controller 301 3 are absorbed.
Specifically, as shown in figure 11, when being braked to train 2, braking electric energy feeds back to Traction networks, first determines whether battery Whether 202 electricity Q is less than or equal to the first power threshold Q1, if electricity Q is less than or equal to the first power threshold Q1, battery 202 can absorb braking electric energy, now, the voltage U of the real-time monitoring Traction networks of the first controller 205, if the row on Traction networks 1 Car negligible amounts are that the load on Traction networks 1 is smaller, or the train braked on Traction networks 1 is more, can cause the electricity of Traction networks Such as the rising of pressure, when the voltage U of Traction networks 1 is more than the second predetermined threshold value U2, during 845V, controls the battery 202 of train 2 to absorb Braking electric energy；If the voltage U of Traction networks 1 continues to raise after the battery of train 2 is absorbed, as the voltage U of Traction networks More than the 5th predetermined threshold value U5, such as during 855V, the control energy-accumulating power station 3 of second controller 301 absorbs braking electric energy.In the present invention Embodiment in, after control battery 202 and energy-accumulating power station 3 absorb braking electric energy, the voltage U of Traction networks 1 can be reduced, when leading Draw the voltage U of net 1 less than or equal to the 3rd predetermined threshold value U3, such as during 830V, control battery 202 and energy-accumulating power station 3 stop absorbing Braking energy.
That is, as shown in figure 11, when the voltage U of Traction networks reaches the 5th predetermined threshold value U5, controlling energy-accumulating power station 3 Start to absorb braking electric energy；When the voltage U of Traction networks is less than the 5th predetermined threshold value U5 more than the second predetermined threshold value U2, control electricity Pond 202 absorbs braking electric energy；When the voltage U of Traction networks is less than the 3rd predetermined threshold value U3, braking electric energy only feeds back to Traction networks 1。
Two) recycling of electric energy is braked
Train 2 start to walk or Traction networks 1 on run train it is more when, the voltage U of Traction networks 1 can be reduced, now will The braking electric energy that battery 202 and energy-accumulating power station 3 are reclaimed is discharged on Traction networks 1 electric energy loss that can supplement Traction networks 1.Specifically Whether ground, first determine whether the electricity Q of battery 202 more than or equal to the second power threshold Q2, if electricity Q is more than or equal to the second electricity Threshold value Q2, then battery 202 can be discharged, now, the voltage U of the real-time monitoring Traction networks of second controller 301 works as Traction networks Voltage U be less than the first predetermined threshold value U1, such as during 810V, control energy-accumulating power station 3 discharged.Further, the first control Whether device 205 monitors the voltage U of Traction networks, and judges the voltage U of Traction networks less than the 7th predetermined threshold value U7, if the first control Device 205 judges that the voltage U of Traction networks is less than the 7th predetermined threshold value U7, then the control of second controller 301 energy-accumulating power station 3 is put Electricity, meanwhile, the first controller 205 controls two-way DC/DC converters 204 to open, and controls two-way DC/DC converters 204 to enter Discharge mode, so that the battery 202 of train 2 is discharged to Traction networks 1.
In addition, when Traction networks 1 occur power supply trouble, battery 202 can be controlled to open, and control two-way DC/DC Converter 204 enters discharge mode, to realize the emergency driving of train 2.
So, the braking power consumption absorbed in battery 202 and energy-accumulating power station 301 can be fallen, in order to the He of battery 202 Energy-accumulating power station 301 proceeds the recovery of braking energy, saves operation cost.
A specific embodiment of the invention, train 2 can be straddle-type monorail train.
According to one embodiment of present invention, as shown in figure 12, train 2 also includes：Bogie 20 and car body 30, wherein, Bogie 20 is suitable to straddle seat on track girder；Car body 30 is connected with bogie 20 and is drawn by bogie 20 and travelled along track girder.
According to one embodiment of present invention, as shown in figure 12, bogie 20 includes：Bogie frame 21, travelling wheel 22, Power set 23 and horizontal wheels 24, wherein, bogie frame 21 is suitable to straddle seat on track girder and is connected with car body 30；Travelling wheel 22 are pivotably mounted on bogie frame 21 and coordinate on the upper surface of track girder；Power set 23 are arranged on bogie It is connected on framework 21 and with travelling wheel 22；Horizontal wheels 24 are pivotably mounted on bogie frame 21 and coordinate in track On the side surface of beam.
According to one embodiment of present invention, as shown in figure 12, bogie 20 also includes:Draw-gear 25 and supported and suspended Device 26, wherein, draw-gear 25 is arranged on bogie frame 21 and is connected with car body 30；Supported and suspended device 26 is arranged on It is connected on bogie frame 21 and with car body 30.
To sum up, the braking recovery system of the train for proposing according to embodiments of the present invention, the first controller is in train braking Control distributor and two-way DC/DC converters feed back to Traction networks by electric energy is braked, and second controller is small in the voltage of Traction networks Control energy-accumulating power station to be discharged to Traction networks when the first predetermined threshold value, so as to avoid the brownout of Traction networks, maintain to lead Draw the normal work of net.In embodiments of the present invention, if train on Traction networks relatively it is many load it is larger, Traction networks Voltage declines, now in order to avoid the voltage of Traction networks is less than minimum rated voltage, it is necessary to control energy-accumulating power station to enter to Traction networks Row electric discharge.The embodiment of the present invention is discharged Traction networks by energy-accumulating power station, it is achieved thereby that the recovery and again of braking electric energy Utilize, reduce energy waste, reduce the load of Traction networks.Also, the embodiment of the present invention can be with effective monitoring Traction networks Voltage, protection system parts improve security of system.
As shown in figure 13, be train according to the embodiment of the present invention braking recovery method flow chart.As shown in figure 13, The method is comprised the following steps：
S10：Train is braked, and according to brake force generation braking electric energy, and braking electric energy is fed back into Traction networks.
S20：Monitor the voltage of Traction networks；
S30：Judge the voltage of Traction networks whether less than the first predetermined threshold value；
S40：If the voltage of Traction networks is less than the first predetermined threshold value, control energy-accumulating power station is discharged to Traction networks.
Specifically, when train is braked, the braking electric energy of generation is fed back into Traction networks.When the row on Traction networks Car quantity is more, i.e., when the load on Traction networks is larger, the voltage U of Traction networks can be reduced, now the electricity of real-time monitoring Traction networks Pressure U, when the voltage U of Traction networks is less than the first predetermined threshold value U1, control energy-accumulating power station is discharged to improve the electricity of Traction networks Pressure.If the voltage U of Traction networks continues to reduce, controllable battery is discharged to improve the voltage of Traction networks.
According to one embodiment of present invention, the braking recovery method of train also includes：Voltage control according to Traction networks The battery of train absorbs to the braking electric energy of train.In an embodiment of the present invention, when the train quantity on Traction networks compared with Less be Traction networks on load it is smaller, or on Traction networks brake train it is more when, feed back to the braking electric energy on Traction networks Electric energy needed for the train operation on Traction networks can be exceeded, so as to cause the rising of the voltage U of Traction networks.Now, real-time monitoring The voltage U of Traction networks, when the voltage U of Traction networks is raised, the battery of priority acccess control train absorbs braking electric energy.Meanwhile, in real time The voltage U of Traction networks is monitored, if the voltage U of Traction networks continues to raise after the battery of train is absorbed, control storage Energy power station absorbs electric energy and is charged from Traction networks.
It should be noted that the battery of train can be powered for the illumination of train, air-conditioning, multimedia.Energy-accumulating power station May be provided among station, the braking electric energy for reclaiming is used to be powered for illumination, air-conditioning, the multimedia at station etc..This , can be for recycling and reuse for braking electric energy by battery and energy-accumulating power station by sample, while the load of transformer station can be reduced, The energy is saved.
Also, it should be noted that battery is set ON TRAINS, the braking electric energy of train generation can be quickly absorbed, due to storage The distance between energy power station and train farther out, cause energy-accumulating power station to absorb braking electric energy delayed.Therefore, in embodiments of the invention Middle prioritizing selection battery absorbs braking electric energy, to realize braking the quick absorption of electric energy, so as to prevent not absorbed or consumed Braking electric energy cause the voltage U of Traction networks to raise, protect the parts of system, it is to avoid electrical equipment on Traction networks is damaged, and is carried The security of system high.
Thus, the embodiment of the present invention absorbs braking electric energy by controlling battery and energy-accumulating power station on train, realizes system The recycling and reuse of electrokinetic energy, reduce energy waste, reduce the load of Traction networks.Also, the embodiment of the present invention can be with The voltage of effective monitoring Traction networks, protection system parts improve security of system.
According to one embodiment of present invention, the braking recovery method of train also includes：Judge Traction networks voltage U whether More than the second predetermined threshold value U2, such as 845V；If the voltage U of Traction networks is more than the second predetermined threshold value U2, control battery is inhaled Receive braking electric energy.
According to one embodiment of present invention, the braking recovery method of train also includes：Judge Traction networks voltage whether Less than the 3rd predetermined threshold value, such as 830V；If the voltage of Traction networks is less than the 3rd predetermined threshold value, control battery stops absorbing Braking electric energy, wherein, the 3rd predetermined threshold value is less than the second predetermined threshold value.
Specifically, as shown in figure 14, specifically included when controlling battery to reclaim the braking electric energy of train following Step：
S101：Train is braked, and according to brake force generation braking electric energy, and braking electric energy is fed back into traction Net.
S102：The voltage U of real-time monitoring Traction networks.
S103：Judge the voltage U of Traction networks whether more than the second predetermined threshold value U2, such as 845V.
If it is, the braking electric energy that explanation is now fed back on Traction networks is superfluous, then step S104 is performed；If not, saying The bright braking electric energy now fed back on Traction networks has basically reached balance with the load request on Traction networks, then perform step S105。
S104：Control battery absorbs partial brake electric energy.
S105：Judge the voltage U of Traction networks whether less than the 3rd predetermined threshold value U3 such as 830V.
If it is, performing step S106；If it is not, then performing step S103.
S106：Control battery stops absorbing braking electric energy, and the braking electric energy that train is produced feeds back to Traction networks.
The battery of embodiment of the present invention prioritizing selection train absorbs braking electric energy, to realize braking the quick absorption of electric energy, So as to prevent the braking electric energy not consumed from causing the voltage U of Traction networks to raise, it is to avoid the device failure on Traction networks.
According to one embodiment of present invention, the braking recovery method of train also includes：Judge Traction networks voltage U whether More than the 5th predetermined threshold value U5, such as 855V；If the voltage U of Traction networks is more than the 5th predetermined threshold value U5, control energy storage electricity Station is charged, and the 5th predetermined threshold value U5 is more than the first predetermined threshold value U1.In an embodiment of the present invention, when the battery of train is opened When beginning to absorb braking electric energy, now because the train on Traction networks is less, or the train now braked is more, therefore Traction networks Voltage can also continue to increase.When the voltage U of Traction networks is more than the 5th predetermined threshold value U5, such as during 855V, control energy-accumulating power station Electric energy is absorbed from Traction networks to be charged, so as to the voltage for avoiding Traction networks exceedes maximum rated voltage.
Similarly, according to one embodiment of present invention, when the voltage U of Traction networks is less than the first predetermined threshold value U1, for example During 810V, control energy-accumulating power station is discharged.In an embodiment of the present invention, be may result in if train on Traction networks is more The voltage of Traction networks declines, now in order to avoid the voltage of Traction networks is less than minimum rated voltage, it is necessary to control energy-accumulating power station to Traction networks are discharged.In one particular embodiment of the present invention, there are multiple energy-accumulating power stations, prioritizing selection electricity on Traction networks Amount energy-accumulating power station high discharges to Traction networks, and the power of such as electricity energy-accumulating power station electric discharge high is big, the low energy-accumulating power station of electricity The power of electric discharge is smaller, so as to reach the electric quantity balancing between energy-accumulating power station.
According to one embodiment of present invention, the braking recovery method of train also includes：Judge Traction networks voltage whether More than the 6th predetermined threshold value；If the voltage of Traction networks is more than the 6th predetermined threshold value, control energy-accumulating power station stops electric discharge, its In, the 6th predetermined threshold value is more than the 5th predetermined threshold value.
According to one embodiment of present invention, the braking recovery method of train also includes：Judge Traction networks voltage whether Less than the 7th predetermined threshold value；If the voltage of Traction networks is less than the 7th predetermined threshold value, two-way DC/DC converters enter electric discharge mould Formula so that the battery of train is discharged to Traction networks, wherein, the 7th predetermined threshold value is less than the first predetermined threshold value.Of the invention real Apply in example, if the voltage U of Traction networks is too small, the battery of control energy-accumulating power station and train is discharged, so that will traction The voltage of net is quickly improved.
Specifically, as shown in figure 15, in an embodiment of the present invention, control energy-accumulating power station enters to the braking electric energy of train Row specifically includes following steps when reclaiming：
S201：Monitor the voltage U of Traction networks.
S202：Judge the voltage U of Traction networks whether more than the 5th predetermined threshold value U5 such as 855V.
If it is, the braking electric energy that explanation is now fed back on Traction networks is excessive, then step S203 is performed；If It is no, then perform step S204.
S203：Control energy-accumulating power station is charged.
Specifically, braking electric energy is absorbed by energy-accumulating power station, the pressure that battery absorbs braking electric energy can be mitigated, so that The voltage U of Traction networks is avoided more than the maximum rated voltage Un of Traction networks.
S204：Judge the voltage U of Traction networks whether less than the first predetermined threshold value U1, such as 810V.
If it is, performing step S205；If it is not, then repeat step S204.
S205：Control energy-accumulating power station is discharged.
S206：Monitor the voltage U of Traction networks.
S207：Judge whether the voltage U of Traction networks gos up.
If it is, performing step S208；If it is not, then performing step S210.
S208：Judge the voltage U of Traction networks whether more than the 6th predetermined threshold value U6.
If it is, the load that explanation is now fed back on braking electric energy and Traction networks on Traction networks has been basically reached and put down Weighing apparatus, then perform step S209；If it is not, then repeat step 208.
S209：Control energy-accumulating power station stops electric discharge.
S210：Judge the voltage U of Traction networks whether less than the 7th predetermined threshold value U7.
If it is, performing step S211；If it is not, then repeat step S210.
S211：Control energy-accumulating power station is discharged to Traction networks, meanwhile, control battery is discharged to Traction networks.
According to one embodiment of present invention, the braking recovery method of train also includes：Judge Traction networks voltage U whether More than the 4th predetermined threshold value U4；If the voltage U of Traction networks is more than the 4th predetermined threshold value U4, control train carries out mechanical braking Implementation electric braking is coordinated to brake train, wherein, the 4th predetermined threshold value U4 is more than the second predetermined threshold value U2.Of the invention In embodiment, if the train on Traction networks is less, or the train now braked is more, then absorbed in battery and energy-accumulating power station After braking electric energy, the voltage U of Traction networks may proceed to increase, when the voltage U of Traction networks is more than the 4th predetermined threshold value U4, control Train carries out mechanical braking, and auxiliary braking is carried out with to train.
Specifically, after battery and energy-accumulating power station absorb braking electric energy, the voltage U of Traction networks may proceed to increase, real When monitoring Traction networks voltage U, if the voltage U of Traction networks be more than the 4th predetermined threshold value U4, control train carry out mechanical system It is dynamic, so, auxiliary braking is carried out to train by mechanical braking while electric braking is carried out to train, to reduce train generation Braking electric energy, so as to the voltage U for avoiding Traction networks exceedes maximum rated voltage, and precisely quick parking can be realized.
According to one embodiment of present invention, the braking recovery method of train also includes：Whether the contactor of detection train Disconnect；If detecting contactor disconnection, battery is controlled for train power supply, and control train to limit Power operation.
Specifically, when contactor disconnection is detected, illustrate that train is in abnormal electrical power supply state, judge that train enters and answer Anxious drive pattern, and emergent traction signal is sent, to control battery to be discharged, now, battery is train power supply.Meanwhile, control The discharge power of battery processed is less than or equal to predetermined power threshold value such as 70KW, so that train operation is in limit power rating.
Thus, the emergency driving of train is realized by battery, it is to avoid the cast anchor on the way scheduling that causes of train is difficult Problem, while avoiding failure train occupation working line.
According to one embodiment of present invention, the braking recovery method of train also includes：The electricity of battery is detected, and is judged Whether the electricity of battery is more than the first power threshold, such as 80%；If the electricity of battery is more than the first power threshold, control Battery stops absorbing braking electric energy.In an embodiment of the present invention, the charge power and discharge power of battery are restricted, battery Electricity can increase after braking electric energy is absorbed, if the electricity of battery is excessive, the service life of battery can be influenceed, when electricity Q is big When the first power threshold Q1, control battery stops absorbing braking electric energy.
According to one embodiment of present invention, the braking recovery method of train also includes：The electricity of battery is detected, and is judged Whether the electricity of battery is less than the second power threshold, such as 50%；If the electricity of battery is less than the second power threshold, control Battery stops electric discharge.In an embodiment of the present invention, electricity can reduce battery after discharge, when electricity Q is less than the second electricity During threshold value Q2, control battery stops electric discharge.
Specifically, the charge power and discharge power of battery are limited by the method shown in Figure 16.
S301：Judge train whether in emergency driving pattern.
If it is, repeat step S301；If it is not, then performing step S302.
S302：The electricity Q of real-time detection battery.
S303：Judge the electricity Q of battery whether more than the first power threshold Q1 such as 80%.
If it is, performing step S304；If it is not, then performing step S305.
S304：Control battery stops absorbing braking electric energy.Now, the maximum allowable charge power of battery is limited to 0.
S305：Judge the electricity Q of battery whether less than the second power threshold Q2 such as 50%.
If it is, performing step S306；If it is not, then performing step S307.
S306：Control battery stops electric discharge.Now, the maximum allowable discharge power of battery is limited to 0.
S307：Terminate.
It should be noted that step S303 and S304 are performed in battery charging process, S305 and S306 are in battery for step Performed in discharge process.
As described above, as shown in FIG. 17 and 18, the specific step of the recycling and reuse of the braking electric energy of the embodiment of the present invention It is rapid as follows：
One) recovery of electric energy is braked
S401：Train is braked, and according to brake force generation braking electric energy, and braking electric energy is fed back into traction Net.
S402：Judge the electricity Q of battery whether less than or equal to the first power threshold Q1.
If it is, performing step S403；If it is not, then repeat step S402.
S403：The voltage U of real-time monitoring Traction networks.
S404：Judge the voltage U of Traction networks whether more than the second predetermined threshold value U2, such as 845V.
If it is, performing step S405；If it is not, then performing step S406.
S405：Control battery absorbs braking electric energy.
S406：Control battery does not absorb braking energy.
S407：Judge the voltage U of Traction networks whether more than the 3rd predetermined threshold value U3, such as 855V.
If it is, performing step S408；If it is not, then performing step S404.
S408：Control energy-accumulating power station absorbs braking electric energy.
Two) recycling of electric energy is braked
S501：Judge the electricity Q of battery whether more than or equal to the second power threshold Q2.
If it is, performing step S502；If it is not, then repeat step S501.
S502：Monitor the voltage U of Traction networks.
S503：Judge the voltage U of Traction networks whether less than the first predetermined threshold value U1, such as 810V.
If it is, performing step S504；If it is not, then performing step S505.
S504：Control energy-accumulating power station is discharged.
S505：Control energy-accumulating power station is not discharged.
S506：Judge the voltage U of Traction networks whether less than the 7th predetermined threshold value U7.
If it is, performing step S507；If it is not, then repeat step S506.
S507：Control energy-accumulating power station is discharged to Traction networks, meanwhile, control battery is discharged to Traction networks.
In addition, when Traction networks occur power supply trouble, battery can be controlled to enter discharge mode, to realize train Emergency driving.
So, the braking power consumption absorbed in battery and energy-accumulating power station can be fallen, in order to battery and energy-accumulating power station Proceed the recovery of braking energy, save operation cost.
To sum up, the braking recovery method of the train for proposing according to embodiments of the present invention, brakes to train, and produce Braking electric energy feeds back to Traction networks, and monitors the voltage of Traction networks, and then when the voltage of Traction networks is less than the first predetermined threshold value Control energy-accumulating power station is discharged to Traction networks.In embodiments of the present invention, if the train on Traction networks is relatively loaded more Larger, then the voltage of Traction networks declines, now in order to avoid the voltage of Traction networks is less than minimum rated voltage, it is necessary to control energy storage Discharged to Traction networks in power station.The embodiment of the present invention is discharged Traction networks by energy-accumulating power station, it is achieved thereby that braking The recycling and reuse of electric energy, reduce energy waste, reduce the load of Traction networks.Also, the embodiment of the present invention can also have The voltage of effect monitoring Traction networks, protection system parts improve security of system.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or Position relationship, is for only for ease of the description present invention and simplifies description, must rather than the device or element for indicating or imply meaning With specific orientation, with specific azimuth configuration and operation, therefore must be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or Implicitly include at least one this feature.In the description of the invention, " multiple " is meant that at least two, such as two, three It is individual etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc. Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integrally；Can be that machinery connects Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements The connection in portion or two interaction relationships of element, unless otherwise clearly restriction.For one of ordinary skill in the art For, can as the case may be understand above-mentioned term concrete meaning in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be with It is the first and second feature directly contacts, or the first and second features are by intermediary mediate contact.And, fisrt feature exists Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office Combined in an appropriate manner in one or more embodiments or example.Additionally, in the case of not conflicting, the skill of this area Art personnel can be tied the feature of the different embodiments or example described in this specification and different embodiments or example Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned Embodiment is changed, changes, replacing and modification.

Claims (29)

1. the braking recovery system of a kind of train, it is characterised in that including：
Traction networks；
Train, the train includes：
Electric brake；
Battery；
Distributor, the distributor is connected with the electric brake, has node between the distributor and the electric brake；
Two-way DC/DC converters, one end of the two-way DC/DC converters is connected with the battery, the two-way DC/DC conversion The other end of device is connected with the node；
First controller, first controller is connected with the distributor and the two-way DC/DC converters, first control Device processed is used to be controlled in the train braking distributor and the two-way DC/DC converters by braking electric energy feedback to institute State Traction networks；
Energy-accumulating power station, the energy-accumulating power station is connected with the Traction networks, and the energy-accumulating power station includes second controller, described second Controller is used to control the energy-accumulating power station to enter to the Traction networks when the voltage of the Traction networks is less than the first predetermined threshold value Row electric discharge.
2. the braking recovery system of train as claimed in claim 1, it is characterised in that
First controller controls the two-way DC/DC converters by the battery to institute according to the voltage of the Traction networks The braking electric energy for stating train is absorbed.
3. the braking recovery system of train as claimed in claim 2, it is characterised in that
First controller is used to, when the voltage of the Traction networks is more than the second predetermined threshold value, control the two-way DC/DC Converter enters charge mode so that the battery absorbs the braking electric energy.
4. the braking recovery system of train as claimed in claim 3, it is characterised in that
First controller is used to, when the voltage of the Traction networks is less than three predetermined threshold values, control the two-way DC/DC Converter is closed so that the battery stops absorbing the braking electric energy, wherein, the 3rd predetermined threshold value is less than described second Predetermined threshold value.
5. the braking recovery system of train as claimed in claim 3, it is characterised in that the train also includes：
Coulometric detector, the coulometric detector is connected with first controller, and the coulometric detector is used to detect described The electricity of battery, wherein, when the battery absorbs the braking electric energy, first controller is additionally operable in the battery When electricity is more than the first power threshold, the two-way DC/DC converters are controlled to close so that the battery stops absorbing the system Electrokinetic energy.
6. the braking recovery system of train as claimed in claim 3, it is characterised in that the train also includes：
Mechanical brake, for carrying out mechanical braking to train.
7. the braking recovery system of train as claimed in claim 6, it is characterised in that
After the battery absorbs the braking electric energy, first controller is additionally operable to be more than in the voltage of the Traction networks During four predetermined threshold values, control the mechanical brake to start and coordinate the electric brake to brake the train, wherein, 4th predetermined threshold value is more than second predetermined threshold value.
8. the braking recovery system of train as claimed in claim 1, it is characterised in that
The second controller is used to, when the voltage of the Traction networks is more than five predetermined threshold values, control the energy-accumulating power station to enter Row charges, and the 5th predetermined threshold value is more than first predetermined threshold value.
9. the braking recovery system of train as claimed in claim 8, it is characterised in that in the energy-accumulating power station to the traction After net electric discharge, the second controller is additionally operable to when the voltage of the Traction networks is more than six predetermined threshold values, and control is described Energy-accumulating power station stops electric discharge, wherein, the 6th predetermined threshold value is more than the 5th predetermined threshold value.
10. the braking recovery system of train as claimed in claim 1, it is characterised in that
First controller is additionally operable to, when the voltage of the Traction networks is less than seven predetermined threshold values, control the two-way DC/ DC converters into discharge mode so that the battery of the train is discharged to the Traction networks, wherein, the described 7th presets Threshold value is less than first predetermined threshold value.
The braking recovery system of 11. trains as claimed in claim 10, it is characterised in that when the battery is to the Traction networks When being discharged, first controller is additionally operable to, when the electricity of the battery is less than the second power threshold, control described double Closed to DC/DC converters so that the battery stops electric discharge.
The braking recovery system of 12. trains as claimed in claim 1, it is characterised in that the train also includes：
Contactor detector, the contactor detector is connected with first controller, and the contactor detector is used to examine Whether the contactor for surveying the train disconnects, wherein, first controller is additionally operable to after the contactor disconnects, control The distributor is closed, and controls the two-way DC/DC converters to carry out discharge mode so that the battery is train confession Electricity, and control the train limit Power operation.
The braking recovery system of 13. trains as claimed in claim 1, it is characterised in that the energy-accumulating power station is multiple, described Multiple energy-accumulating power stations are according to predeterminable range interval setting.
The braking recovery system of 14. trains as claimed in claim 13, it is characterised in that two institutes are set in per 3-6 kilometers Energy-accumulating power station is stated, the power of the energy-accumulating power station is 0.5-2MW.
The braking recovery system of 15. trains as claimed in claim 1, it is characterised in that the train is arranged for straddle-type monorail Car.
The braking recovery system of 16. trains as claimed in claim 15, it is characterised in that also include：
Bogie, the bogie is suitable to straddle seat on track girder；
Car body, the car body is connected with the bogie and is travelled along the track girder by bogie traction.
The braking recovery system of 17. trains as claimed in claim 16, it is characterised in that the bogie includes：
Bogie frame, the bogie frame is suitable to straddle seat on the track girder and is connected with the car body；
Travelling wheel, the travelling wheel is pivotably mounted on the bogie frame and coordinates in the upper surface of the track girder On；
Power set, the power set are arranged on the bogie frame and are connected with the travelling wheel；
Horizontal wheels, the horizontal wheels are pivotably mounted on the bogie frame and coordinate the side surface in the track girder On.
The braking recovery system of 18. trains as claimed in claim 17, it is characterised in that the bogie also includes：
Draw-gear, the draw-gear is arranged on the bogie frame and is connected with the car body；
Supported and suspended device, the supported and suspended device is arranged on the bogie frame and is connected with the car body.
The braking recovery method of 19. a kind of trains, it is characterised in that comprise the following steps：
The train is braked, and according to brake force generation braking electric energy, and the braking electric energy is fed back into Traction networks；
Monitor the voltage of the Traction networks；
Judge the voltage of the Traction networks whether less than the first predetermined threshold value；
If the voltage of the Traction networks is less than the first predetermined threshold value, control energy-accumulating power station is discharged to the Traction networks.
The braking recovery method of 20. trains as claimed in claim 19, it is characterised in that also include：
Voltage according to the Traction networks controls the battery of the train to absorb the braking electric energy of the train.
The braking recovery method of 21. trains as claimed in claim 20, it is characterised in that also include：
Judge the voltage of the Traction networks whether more than the second predetermined threshold value；
If the voltage of the Traction networks is more than the second predetermined threshold value, the battery is controlled to absorb the braking electric energy.
The braking recovery method of 22. trains as claimed in claim 21, it is characterised in that also include：
Judge the voltage of the Traction networks whether less than the 3rd predetermined threshold value；
If the voltage of the Traction networks is less than the 3rd predetermined threshold value, the battery is controlled to stop absorbing the braking electric energy, Wherein, the 3rd predetermined threshold value is less than second predetermined threshold value.
The braking recovery method of 23. trains as claimed in claim 21, it is characterised in that also include：
The electricity of the battery is detected, and judges the electricity of the battery whether more than the first power threshold；
If the electricity of the battery is more than first power threshold, the battery is controlled to stop absorbing the braking electricity Energy.
The braking recovery method of 24. trains as claimed in claim 21, it is characterised in that also include：
Judge the voltage of the Traction networks whether more than the 4th predetermined threshold value；
If the voltage of the Traction networks is more than the 4th predetermined threshold value, control train carries out mechanical braking and coordinates implementation electricity Braking is braked to the train, wherein, the 4th predetermined threshold value is more than second predetermined threshold value.
The braking recovery method of 25. trains as claimed in claim 19, it is characterised in that also include：
Judge the voltage of the Traction networks whether more than the 5th predetermined threshold value；
If the voltage of the Traction networks is more than the 5th predetermined threshold value, the energy-accumulating power station is controlled to be charged, it is described 5th predetermined threshold value is more than first predetermined threshold value.
The braking recovery method of 26. trains as claimed in claim 25, it is characterised in that also include：
Judge the voltage of the Traction networks whether more than the 6th predetermined threshold value；
If the voltage of the Traction networks is more than the 6th predetermined threshold value, the energy-accumulating power station is controlled to stop electric discharge, wherein, 6th predetermined threshold value is more than the 5th predetermined threshold value.
The braking recovery method of 27. trains as claimed in claim 19, it is characterised in that also include：
Judge the voltage of the Traction networks whether less than the 7th predetermined threshold value；
If the voltage of the Traction networks is less than the 7th predetermined threshold value, control the battery of the train is carried out to the Traction networks Electric discharge, wherein, the 7th predetermined threshold value is less than first predetermined threshold value.
The braking recovery method of 28. trains as claimed in claim 27, it is characterised in that also include：
The electricity of the battery is detected, and judges the electricity of the battery whether less than the second power threshold；
If the electricity of the battery is less than second power threshold, the battery is controlled to stop electric discharge.
The braking recovery method of 29. trains as claimed in claim 19, it is characterised in that also include：
Detect whether the contactor of train disconnects；
If detecting the contactor to disconnect, the battery is controlled for the train power supply, and control the train limit work( Rate is run.
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