CN108008719A - Municipal rail train electronic brake control unit closed-loop control experimental rig and test method - Google Patents
Municipal rail train electronic brake control unit closed-loop control experimental rig and test method Download PDFInfo
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- CN108008719A CN108008719A CN201711317960.0A CN201711317960A CN108008719A CN 108008719 A CN108008719 A CN 108008719A CN 201711317960 A CN201711317960 A CN 201711317960A CN 108008719 A CN108008719 A CN 108008719A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention relates to a kind of municipal rail train electronic brake control unit closed-loop control experimental rig and test method, and to realize the test of city rail vehicle electronic brake control unit braking Closed-loop Control Strategy, which is a virtual-actual loading test device, including：Object test component：To produce the actual test data of electronic brake control unit to be measured according to virtual controlling information, and pass through MVB network services；Virtual emulation component：To set and produce virtual controlling information, and object test component is sent to, while actual test data is obtained by MVB networks and data acquisition circuit, complete the test of Closed-loop Control Strategy.Compared with prior art, the present invention has the advantages that true simulating brake closed loop environment, simulation, strong operability, reduces cost.
Description
Technical field
The present invention relates to track traffic control field, more particularly, to a kind of municipal rail train electronic brake control unit closed loop
Control experiment device and test method.
Background technology
It is existing to be directed to city rail vehicle electronic brake control unit newly developed, lack and braking Closed-loop Control Strategy is carried out
The experimental rig of design and analysis.
In the prior art, braking control strategy uses open loop form, for it is compared to Closed-loop Control Strategy, control
Precision is low, and the test for electronic brake control unit is completed using open loop form, can not carry out Closed-loop Control Strategy
How test, analyze deceleration of electrons unit Closed-loop Control Strategy newly developed and optimized the technical problem for being badly in need of solving.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of municipal rail train electronics
Brak control unit closed-loop control experimental rig and test method.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of municipal rail train electronic brake control unit closed-loop control experimental rig, to realize city rail vehicle deceleration of electrons
Control unit brakes the test of Closed-loop Control Strategy, which is a virtual-actual loading test device, including：
Object test component：To produce the actual test number of electronic brake control unit to be measured according to virtual controlling information
According to, and pass through MVB network services；
Virtual emulation component：To set and produce virtual controlling information, and object test component is sent to, passed through at the same time
MVB networks and data acquisition circuit obtain actual test data, complete the test of Closed-loop Control Strategy.
Preferably, the virtual emulation component includes：
Operation interface：Built using Labview softwares, to set vehicle parameter, operating parameter, produce virtual braking
Instruction and level information and display and food preservation test data；
Train system model：Using Matlab-Simulink platform buildings, vehicle dynamic model is included to build,
Simulate train operation state；
TCU models：Using Matlab-Simulink platform buildings, to simulate train electrical brake unit, train system is produced
The electric braking force signal of system model；
Pneumatic operated valve model：Built using AMESim, to simulate the function of pneumatic operated valve in municipal rail train braking system, simulation
The process of brake-cylinder pressure raising and lowering, produces brake-cylinder pressure signal and is sent to train system model.
Preferably, the object test component includes：
Electronic brake control unit to be measured：To obtain virtual braking instruction, from train system mould from operation interface
Type obtains load-carrying data and level information and obtains electric braking feedback signal from TCU models, and produces pneumatic operated valve model
The electric braking request signal of control signal, the braking force signal of train system model and TCU models；
Axle speed generator：Using the virtual axle speed signal that train system model produces as input, the axle speed of train reality is produced
Pulse signal, and output this to electronic brake control unit to be measured.
Preferably, the electronic brake control unit drags marshalling for one dynamic one.
A kind of test method, comprises the following steps：
1) before on-test, experiment parameter setting, including initialization train system model parameter, simulated conditions parameter are carried out
Input and configuration output and display result：
2) virtual braking instruction is produced by operation interface, and instruction is decoded to obtain desired deceleration, by mesh
Mark deceleration is sent to electronic brake control unit and real-time display by MVB networks；
3) after electronic brake control unit obtains desired deceleration, data acquisition circuit is passed through according to from pneumatic operated valve model
The brake-cylinder pressure signal collected in the form of analog quantity, the electric braking request signal obtained from TCU models by MVB networks
And the axle speed pulse signal obtained in real time from axle speed generator, load Closed-loop Control Strategy to be tested and produce target system
Power；
4) the electric braking feedback that electronic brake control unit obtains target braking force with application makes the difference to obtain target gas
Brake force, and produce corresponding pneumatic valve control signal and exported by data acquisition circuit to pneumatic operated valve model；
5) after pneumatic operated valve model receives control signal, actual brake-cylinder pressure signal is produced, and pass through data acquisition
Electronic feedback electron brak control unit；
6) pneumatic operated valve model produces the electric braking force that brake-cylinder pressure is produced with TCU models and acts on train system mould at the same time
Type, completes virtual braking procedure；
7) virtual axle speed signal is sent to axle speed generator by train system model, and axle speed generator produces actual axle speed
Signal output is formed the closed loop procedure of train brake control with this to electronic brake control unit.
Preferably, the train system model parameter includes vehicle mass, bogie pivot distance, bogie axle
Away from, hitch is high, vehicle's center of gravity height, rigidity and damping parameter.
Preferably, the system emulation conditional parameter includes whether friction coefficient of brake shoe, adhesion coefficient, electric braking force have
Effect and hill gradient parameter.
Preferably, the output and display result include train deceleration degree, coupler force, axis weight and axle speed information.
Preferably, the pneumatic valve control signal including 2 tunnels weigh solenoid valve, urgent impulsion limitation valve, force alleviation
Valve, link valve and No. 2 high-speed switch valve signals.
Compared with prior art, the present invention has the following advantages：
First, municipal rail train electronic brake control unit experimental rig described in the invention, can be with analogue simulation brake finger
The train braking whole process such as order is sent, braking instruction transmission, brake calculation and control, braking perform, train deceleration parking, from
And a braking closed loop environment is built, electronic brake control unit can carry out Closed-loop Control Strategy under this closed loop environment
Analysis and optimization.
2nd, axle for vehicle speed pulse signal is produced by axle speed generator in the present invention, its signal and the axis on true train
Fast sensor is identical, can more really reflect the change of axle speed, in closed-loop control test, is carried for deceleration of electrons control device
For the axle speed signal closer to real vehicles situation.
3rd, braking instruction is produced by the virtual software based on Labview in the present invention, eliminates controller and urgent system
The device in kind such as dynamic button, the operability for improving experiment at the same time, reduce experimentation cost.
4th, control for brake air path part is realized based on AMESim software modelings in the present invention, by establishing pneumatic operated valve model,
The raising and lowering process of simulated implementation brake-cylinder pressure, eliminates solenoid valve of weighing, urgent impulsion limitation valve, forces alleviation
Valve original paper material object and checking cylinder and the respective lines such as valve, link valve, high-speed switch valve, while also eliminate general retardation test
The material objects such as necessary wind regime, drier, cylinder, on the basis of guarantee test is genuine and believable, high degree reduces examination
Test cost.
Brief description of the drawings
Fig. 1 brakes closed-loop control experimental rig structure chart for city rail vehicle electronic brake control unit.
Fig. 2 is the realization principle figure of the present invention.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
The present invention provides one kind to be used for analysis and optimization city rail vehicle electronic brake control unit braking closed-loop control plan
Experimental rig slightly, and specify that its test method.The experimental rig is collectively formed by kind and virtual emulation.Wherein electronics system
Dynamic control unit, axle speed occur, hard-wire data collection uses physical form with signal conversion and network communication.Train operation
Journey and service condition, pneumatic valve cell, electric braking unit etc. use work NI-PXI platform emulation simulated implementations.In analysis optimization system
During dynamic system Closed-loop Control Strategy, subway electronic brake control unit to be measured can be accessed experimental rig by connector and be used as
By test specimen, provide virtual train by PXI platforms and its running environment forms closed-loop system, so as to fulfill city rail vehicle electronics system
The test analysis of dynamic control unit braking Closed-loop Control Strategy and optimization.
As shown in Figure 1, the present invention is used for ground test and analysis braking control system closed-loop control effect.Whole device bag
Include hardware components and analogue simulation software section.Analogue simulation software is hard by data acquisition circuit and MVB networks and the external world
Part carries out data exchange, and participating in the hardware of data exchange includes axle speed generator and electronic brake control unit.Analogue simulation is soft
It is divided into interface, train system model, TCU (electric braking) models and pneumatic operated valve model inside part, situation is organized into groups according to rail vehicle,
The electronic brake control unit of varying number is selected, may be constructed the closed-loop control experimental condition under the conditions of different marshallings.
1) analogue simulation software is realized by being equipped on host computer (NI-PXI)：
Operation interface：Built based on Labview software programmings, its major function has vehicle parameter setting, operating parameter to set
Put, braking instruction and level trigger, test data is shown, test data preserves.
Train system model：Built based on the programming of Matlab-Simulink platforms, its major function includes more ginsengs to provide
Several vehicle dynamic model, for simulating train operation state.
TCU models：Built based on the programming of Matlab-Simulink platforms, its major function is simulation train electric braking list
Member, electric braking force is provided for the motor-car in train system model.
Pneumatic operated valve model：Built based on AMESim softwares, its major function is pneumatic valve portion in analog simulation braking system
The function of part, the process of simulating brake cylinder pressure raising and lowering, produces brake-cylinder pressure.
2) it is following to realize to cross data collecting card, signaling conversion circuit and MVB network card etc. for data acquisition circuit and MVB Netcoms
Function：
The virtual braking instruction that interface produces and level are transferred to electronic brake control unit；
Complete the signal interaction between train system model and electronic brake control unit；
Complete the signal interaction between train system model and axle speed generator；
Complete the signal interaction between TCU models and electronic brake control unit；
Complete the signal interaction between pneumatic operated valve model and electronic brake control unit；
Solve the problems, such as the Signal Matching during all of above signal interaction；
Power for whole system.
3) axle speed generator major function is：Using axle speed virtual in train system model as input, train reality is resulted from
The axle speed pulse signal on border, and output this to electronic brake control unit.
4) electronic brake control unit mainly completes following functions：
Virtual braking instruction, level and train information are obtained from interface, train system model and TCU models；
Realize the internal communication between each electronic brake control unit；
Brake force closed-loop control is completed to calculate and distribute；
The control signal of pneumatic operated valve model is produced, realizes the closed-loop control to pneumatic operated valve model.
Realization principle：
As shown in Fig. 2, when developing electronic brake control unit Closed-loop Control Strategy, it is necessary to control to different control strategies
Effect processed is contrasted, and index is braked by testing, and evaluates the control effect of closed-loop control, and then optimizes braking closed-loop control plan
Slightly.Electronic brake control unit in Fig. 2 for one dynamic one drags marshalling, and (changeable electronic brake control unit changes marshalling bar
Part) under realization principle, wherein electronic brake control unit -1 is to possess the control units of MVB network communications.Its specific works
Principle is as follows：
Simulation softwares simulation in host computer sends braking instruction, and decoding braking instruction obtains corresponding desired deceleration
Afterwards, sent by data collecting card or MVB networks to electronic brake control unit processed；Desired deceleration inputs deceleration of electrons control
After in unit processed, electronic brake control unit is according to the load signal that is collected from train system model of emulation, from TCU moulds
(actual speed can be calculated in the electric braking feedback signal collected in type, the axle speed pulse signal produced at axle speed generator
Degree) and the brake-cylinder pressure that is collected at pneumatic operated valve model, total braking force is calculated using closed loop control algorithm is braked
Desired value；After total braking force desired value is calculated, electronic brake control unit sends electric braking force request letter to host computer
Number；After TCU models in host computer analogue simulation software receive electric braking force request signal, returned to electronic brake control unit
Wire back and brake force feedback signal (the electric braking force feedback signal of trailer is zero)；Electronic brake control unit receives electric braking force
After feedback signal, the desired value of air damping power is obtained with the difference of itself and total braking force desired value, correspondence obtains checking cylinder pressure
The desired value of power；Electronic brake control unit is produced and simulates pneumatic valve cell control signal according to the desired value of brake-cylinder pressure,
And signal is sent to by rigid line or MVB to the pneumatic operated valve analogue simulation module in host computer analogue simulation software, finally obtain
The actual value of each brake-cylinder pressure；The brake-cylinder pressure that pneumatic operated valve emulation module produces enters the train system in analogue simulation software
In system model；Train system model according to each brake-cylinder pressure calculate actual air brake force, actual air brake force with it is above-mentioned
The electric braking force collective effect that TCU is produced produces the virtual braking procedure of train in train model.By detecting checking cylinder pressure
The parameters such as power, electric braking force, speed, braking deceleration, braking distance, can analyze the control effect of braking closed-loop control, point
Analysis influences the factor of braking closed-loop control effect.
New research and development city rail vehicle electronic brake control unit braking closed-loop control test procedure is as follows：
1) before on-test, set by simulation softwares：
The train model parameter of initialization include vehicle mass, bogie pivot distance, wheel-base bogie, hitch height,
Vehicle's center of gravity height, rigidity and damping etc.；
Input system simulated conditions or parameter include friction coefficient of brake shoe, adhesion coefficient, electric braking force whether effectively, ramp
Gradient etc.；
The result of configuration output and display includes train deceleration degree, coupler force, axis weight, axle speed etc.；
2) virtual braking instruction is produced by the interface in host computer, and instruction is decoded to obtain target deceleration
Degree, desired deceleration is sent to electronic brake control unit and the real-time display on interface by MVB network card；
3) it is electric according to data acquisition is passed through from pneumatic operated valve model after electronic brake control unit obtains desired deceleration
Brake-cylinder pressure signal that road is collected in the form of analog quantity, the electric braking obtained from TCU models by MVB network applications are believed
Number and the axle speed pulse signal that is obtained in real time from axle speed generator, braked using the tactful and resulting target of closed-loop control
Power；
4) the electric braking feedback that electronic brake control unit obtains target braking force with application makes the difference to obtain target gas
Brake force, and produce corresponding pneumatic valve control signal and exported by data acquisition circuit to the pneumatic operated valve in analogue simulation software
Model, control signal including 2 tunnels weigh solenoid valve, urgent impulsion limitation valve, force graduated release valve, link valve, 2 road high-speed switch valves
Signal；
5) after pneumatic operated valve model receives control signal, actual brake-cylinder pressure is produced, and pass through data acquisition circuit
Feed back to the necessary sensor signal in 7 tunnel of electronic brake control unit；
6) pneumatic operated valve model produces brake-cylinder pressure and acts on train system mould at the same time in the electric braking force that TCU models produce
Type, completes virtual braking procedure；
7) virtual axle speed signal is sent to axle speed generator, axis by train system model by collection with data converting circuit
Fast generator produces actual axle speed signal output to electronic brake control unit, so as to form the closed loop mistake of train brake control
Journey, realizes that electronic brake control unit closed-loop control is tested.
Claims (9)
- A kind of 1. municipal rail train electronic brake control unit closed-loop control experimental rig, to realize city rail vehicle deceleration of electrons control The test of brake unit Closed-loop Control Strategy processed, it is characterised in that the experimental rig is a virtual-actual loading test device, is wrapped Include：Object test component：To produce the actual test data of electronic brake control unit to be measured according to virtual controlling information, And pass through MVB network services；Virtual emulation component：To set and produce virtual controlling information, and object test component is sent to, while passes through MVB Network and data acquisition circuit obtain actual test data, complete the test of Closed-loop Control Strategy.
- 2. a kind of municipal rail train electronic brake control unit closed-loop control experimental rig according to claim 1, its feature It is, the virtual emulation component includes：Operation interface：Built using Labview softwares, to set vehicle parameter, operating parameter, produce virtual braking instruction With level information and display and food preservation test data；Train system model：Using Matlab-Simulink platform buildings, vehicle dynamic model is included to build, is simulated Train operation state；TCU models：Using Matlab-Simulink platform buildings, to simulate train electrical brake unit, train system mould is produced The electric braking force signal of type；Pneumatic operated valve model：Built using AMESim, to simulate the function of pneumatic operated valve in municipal rail train braking system, simulating brake The process of cylinder pressure raising and lowering, produces brake-cylinder pressure signal and is sent to train system model.
- 3. a kind of municipal rail train electronic brake control unit closed-loop control experimental rig according to claim 2, its feature It is, the object test component includes：Electronic brake control unit to be measured：To obtain virtual braking instruction from operation interface, be obtained from train system model Take load-carrying data and level information and obtain electric braking feedback signal from TCU models, and produce the control of pneumatic operated valve model The electric braking request signal of signal, the braking force signal of train system model and TCU models；Axle speed generator：Using the virtual axle speed signal that train system model produces as input, the axle speed pulse of train reality is produced Signal, and output this to electronic brake control unit to be measured.
- 4. a kind of municipal rail train electronic brake control unit closed-loop control experimental rig according to claim 2, its feature It is, the electronic brake control unit drags marshalling for one dynamic one.
- 5. a kind of apply such as the test method of any one of claim 1-4 closed-loop control experimental rig, it is characterised in that including with Lower step：1) before on-test, progress experiment parameter setting, including initialization train system model parameter, simulated conditions parameter are defeated Enter and configure output and show result：2) virtual braking instruction is produced by operation interface, and instruction is decoded to obtain desired deceleration, target is subtracted Speed is sent to electronic brake control unit and real-time display by MVB networks；3) electronic brake control unit obtain desired deceleration after, according to from pneumatic operated valve model by data acquisition circuit with mould Brake-cylinder pressure signal that analog quantity form collects, the electric braking request signal obtained from TCU models by MVB networks and The axle speed pulse signal obtained in real time from axle speed generator, loads Closed-loop Control Strategy to be tested and produces target braking Power；4) the electric braking feedback that electronic brake control unit obtains target braking force with application makes the difference to obtain target gas braking Power, and produce corresponding pneumatic valve control signal and exported by data acquisition circuit to pneumatic operated valve model；5) after pneumatic operated valve model receives control signal, actual brake-cylinder pressure signal is produced, and pass through data acquisition circuit Feed back to electronic brake control unit；6) pneumatic operated valve model produces the electric braking force that brake-cylinder pressure is produced with TCU models and acts on train system model at the same time, Complete virtual braking procedure；7) virtual axle speed signal is sent to axle speed generator by train system model, and axle speed generator produces actual axle speed signal Export the closed loop procedure that train brake control to electronic brake control unit, is formed with this.
- 6. test method according to claim 5, it is characterised in that the train system model parameter includes vehicle matter Amount, bogie pivot distance, wheel-base bogie, hitch height, vehicle's center of gravity height, rigidity and damping parameter.
- 7. test method according to claim 5, it is characterised in that the system emulation conditional parameter rubs including brake shoe Wipe coefficient, adhesion coefficient, electric braking force whether effectively and hill gradient parameter.
- 8. test method according to claim 5, it is characterised in that the output and display result includes train deceleration Degree, coupler force, axis weight and axle speed information.
- 9. test method according to claim 5, it is characterised in that the pneumatic valve control signal is weighed including 2 tunnels Solenoid valve, urgent impulsion limitation valve, force graduated release valve, link valve and No. 2 high-speed switch valve signals.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108627355A (en) * | 2018-07-11 | 2018-10-09 | 杭州齐顺轨道交通科技有限公司 | One to one testing stand of tramcar |
| CN109002034A (en) * | 2018-10-19 | 2018-12-14 | 中车青岛四方车辆研究所有限公司 | The pilot system and test method of city rail vehicle frame control autocontrol system |
| CN109839264A (en) * | 2019-03-13 | 2019-06-04 | 山东科技大学 | High-speed train braking system intermittent fault detection method under closed loop |
| CN110471314A (en) * | 2019-08-29 | 2019-11-19 | 同济大学 | A kind of train microcomputer type anti-skid device hardware in the loop test-rig frame and test method |
| CN111159910A (en) * | 2019-12-31 | 2020-05-15 | 北京旋极信息技术股份有限公司 | Digital testability design method, system and readable medium |
| CN111323247A (en) * | 2020-04-21 | 2020-06-23 | 中车青岛四方车辆研究所有限公司 | Railway vehicle part and whole vehicle object comprehensive test system |
| CN112839850A (en) * | 2018-09-18 | 2021-05-25 | 法伊韦利传送器意大利有限公司 | System for identifying the position along a train of electromechanical brake control devices associated with a railway vehicle |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108627355A (en) * | 2018-07-11 | 2018-10-09 | 杭州齐顺轨道交通科技有限公司 | One to one testing stand of tramcar |
| CN112839850A (en) * | 2018-09-18 | 2021-05-25 | 法伊韦利传送器意大利有限公司 | System for identifying the position along a train of electromechanical brake control devices associated with a railway vehicle |
| CN112839850B (en) * | 2018-09-18 | 2024-05-10 | 法伊韦利传送器意大利有限公司 | Identification system for the position of an electromechanical brake control device associated with a railway vehicle along a train |
| CN109002034A (en) * | 2018-10-19 | 2018-12-14 | 中车青岛四方车辆研究所有限公司 | The pilot system and test method of city rail vehicle frame control autocontrol system |
| CN109839264A (en) * | 2019-03-13 | 2019-06-04 | 山东科技大学 | High-speed train braking system intermittent fault detection method under closed loop |
| CN110471314A (en) * | 2019-08-29 | 2019-11-19 | 同济大学 | A kind of train microcomputer type anti-skid device hardware in the loop test-rig frame and test method |
| CN111159910A (en) * | 2019-12-31 | 2020-05-15 | 北京旋极信息技术股份有限公司 | Digital testability design method, system and readable medium |
| CN111323247A (en) * | 2020-04-21 | 2020-06-23 | 中车青岛四方车辆研究所有限公司 | Railway vehicle part and whole vehicle object comprehensive test system |
| CN111323247B (en) * | 2020-04-21 | 2022-02-11 | 中车青岛四方车辆研究所有限公司 | Railway vehicle part and whole vehicle object comprehensive test system |
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| CN108008719B (en) | 2019-12-31 |
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