CN108859781A - Rail vehicle braking deceleration closed-loop control device and control method - Google Patents
Rail vehicle braking deceleration closed-loop control device and control method Download PDFInfo
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- CN108859781A CN108859781A CN201810629865.2A CN201810629865A CN108859781A CN 108859781 A CN108859781 A CN 108859781A CN 201810629865 A CN201810629865 A CN 201810629865A CN 108859781 A CN108859781 A CN 108859781A
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Classifications
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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
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
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- Power Engineering (AREA)
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention relates to a kind of rail vehicle braking deceleration closed-loop control device and control methods.In vehicle braking moderating process, real-time update always disturbs estimated value, then calculates target braking force according to total disturbance estimated value, realizes the closed-loop control of train braking deceleration.The present invention can be improved during train braking deceleration actual value to target value followability, can be there are ramp, load-carrying, brake shoes（Piece）By the deviation of the practical braking deceleration of train and target braking deceleration control to lower level when the uncertain parameters such as coefficient of friction, electric braking force deviation interfere.
Description
Technical Field
The invention belongs to the technical field of rail vehicle braking systems, and particularly relates to a braking control device and a braking control method for carrying out closed-loop control on braking deceleration of a rail vehicle.
Background
At present, the railway vehicle brake control system is open-loop on the level of train deceleration, the control system only carries out closed-loop control on brake cylinder pressure, and the process from the brake cylinder pressure to the deceleration is not controlled.
During the braking process of the rail vehicle, the friction coefficient of the brake shoe/sheet is changed under the influence of variable parameters such as relative movement speed, temperature, pressure and the like of the friction pair, so that the actual braking force of the train is larger or smaller, and the actual deceleration of the train has an error with a target value.
When the railway vehicle runs on a slope, a curve or other sections during braking, the railway vehicle is subjected to additional external force caused by the slope and the curve, and the external force influences the train to make the actual deceleration larger or smaller.
The actual acting value of the electric braking force of the braking system adopting the electric-air composite braking mode and the feedback value of the electric braking force acquired by the braking system from the traction control unit can have a large deviation, and the deviation has the influence on the train to make the actual deceleration larger or smaller.
If the air spring pressure sensor providing the load signal for the brake system fails or has a large measurement error, a large deviation occurs in the braking force applied by the brake system, and the influence of the deviation on the train is to make the actual deceleration of the train larger or smaller.
The parameters of the brake shoe/sheet friction coefficient, the slope, the curve, the load, the electric brake force deviation and the like are time-varying and unknown, and the traditional brake control device and control method adopt a mode of controlling according to a certain fixed mode or even directly neglecting.
The chinese patent application CN 103328303 a, which was found through search, proposes a brake pressure calculation device, a brake control system, and a program, which includes a target cylinder pressure acquisition unit, a deceleration difference information acquisition unit, and a target cylinder pressure correction value acquisition unit, and adjusts the cylinder pressure during braking, thereby controlling the actual deceleration of the train to approach the target value. The two embodiments proposed in the patent application respectively realize the target cylinder pressure correction value through table look-up and fuzzy reasoning, have insufficient adaptability and accuracy, and cannot quantitatively calculate or sense interference factors such as brake shoes/plates, ramps and the like.
Disclosure of Invention
The present invention is to overcome the above-mentioned drawbacks of the prior art, and provide a brake control device and a brake control method capable of improving the following performance of an actual deceleration value to a target value during a train braking process.
In order to solve the above technical problem, the present invention provides a closed-loop control device for braking deceleration of a railway vehicle, comprising:
a vehicle information acquisition unit for acquiring the train speed v, the train electric braking force, the train air braking force, and the target brake deceleration a at the present time in real timetarget；
A disturbance estimation unit that estimates and updates total disturbance in the braking process on-line based on the information acquired from the vehicle information acquisition unit to acquire a total disturbance estimation value;
the calculation method of the total disturbance estimation value is as follows:
t1 solving differential equationObtaining an estimated value of the parameter a;
t2 obtaining an estimate c of the total disturbance0＝-a·λ；
Wherein,is the derivative of the estimated value of parameter a, and p is the control gain constant; w1-e-λtλ is the system constant; wTIs a transpose of W, is a set value of the load of the train,the train braking force control method comprises the steps that the sum of train electric braking force and train air braking force obtained by a vehicle information obtaining part is obtained, t is the current time, and the current time t is timed relative to the braking deceleration starting time;
a braking force calculation and management part for calculating the braking force of the train by combining the total disturbance estimation value calculated by the disturbance estimation part to obtain the target braking force
The invention also provides a closed-loop control method for the braking deceleration of the railway vehicle, which comprises the following steps:
step 1, acquiring the train taking speed v, the electric braking force of the train, the air braking force of the train and the target braking deceleration a at the current moment in real timetarget；
Step 2, solving a differential equationObtaining an estimated value of the parameter a, and continuously updating the estimated value of the parameter a;
wherein,is the derivative of the estimated value of parameter a, and p is the control gain constant; w1-e-λt(ii) a λ is a system constant; wTIs a transpose of W, is a set value of the load of the train,the train braking force control method comprises the steps that the sum of train electric braking force and train air braking force obtained by a vehicle information obtaining part is obtained, t is the current time, and the current time t is timed relative to the braking deceleration starting time;
step 3, calculating the estimated value of the total disturbance
Step 4, calculating the target braking forceSet value for load of train
In order to further solve the technical problem, the invention also has the following improvements:
1. the vehicle information acquisition part compares the speeds of all the axles to obtain the maximum value or the average value of a plurality of highest axles, or obtains the speed of the train through a speed measuring radar on the train.
2. The vehicle information acquisition section acquires a target braking deceleration by analyzing a control command issued by a driver controller or an automatic driving system.
3. The vehicle information acquisition part acquires the braking force applied by the brake control device through information transmission with each vehicle brake control device of the train.
4. When the difference between the deceleration of the train and the target braking deceleration is less than 0.1m/s2Then, it is ordered
5. When the train slides, if FtargetIf there is an increasing trend, then order
6. And in the step 3, performing low-pass filtering or moving average filtering processing on the estimated value of the total disturbance obtained by calculation.
The invention can improve the following performance of the actual deceleration value to the target value in the braking process of the train, realize the closed-loop control of the braking deceleration of the train, and control the deviation of the actual braking deceleration and the target braking deceleration of the train to a lower level when uncertain parameters such as a ramp, a load, a friction coefficient of a brake shoe (sheet), electric braking force deviation and the like interfere.
The invention is helpful to reduce the dependence on the automatic driving system in the braking process of the train, reduce the too frequent adjustment of the automatic driving system, improve the stop precision of the train and is helpful to the on-line running of the train;
the invention can reduce the sliding phenomenon caused by the uncontrollable over-high braking deceleration in the braking process of the train and actively avoid the sliding of the train.
The invention is beneficial to improving the running stability and comfort of the train and improving the passenger experience.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a closed loop control device for braking deceleration of a railway vehicle.
FIG. 2 is a schematic diagram of a closed loop control method for braking deceleration of a rail vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
The core of the closed-loop control method for the braking deceleration of the railway vehicle is the acquisition of a total disturbance estimated value, and the principle is as follows:
first, a simplified train kinematic equation is established as shown in formula 1:
where v represents train speed, M represents train mass, g is gravitational acceleration, b0For basic resistance, θ is the slope gradient (positive for uphill slope and negative for downhill slope), and B is the total braking force (including the coefficient of friction f).
Order toWherein,in order to calculate the total braking force value obtained by summing the train electric braking force and the train air braking force according to the electric braking force feedback value and the measured brake pressure by the control system,is a vehicle mass set value, and △ ζ is an actual value due to disturbance such as load variation, brake shoe friction coefficient variation, and electric brake force application variationAnd control system calculated valueWith an error therebetween, the above equation can be written as:
a gb0+ g θ + △ ζ is equivalent to the total disturbance c during braking0Obtaining:
the formula 3 is subjected to Laplace transform and multiplied by the same sideFiltering to obtain linear parameterized model
Wherein W is 1-e-λt,
Designing gradient estimation algorithm after establishing linear parameterized model, and recordingFor the estimation of the parameter a, it is possible to use in the controllerThe train running speed is estimated as follows:
the estimation error of the train speed is:
the present invention uses a gradient estimation algorithm for parameter estimation, the principle of which is that updating of parameters causes a reduction in prediction error, i.e. by having the parameter update direction opposite to the gradient direction of the prediction error square with respect to the parameters. Is expressed as
Then solve forExpressed differential equation is continuously calculated and updated in the disturbance estimating sectionTo obtain c0Is estimated value of
As shown in fig. 1, the closed-loop control device for braking deceleration of the railway vehicle of the embodiment comprises: a vehicle information acquisition unit, a disturbance estimation unit, and a braking force calculation and management unit.
A vehicle information acquisition unit acquires, in real time, an acquired train speed v, a train electric braking force, a train air braking force, and a target brake deceleration a at the present timetarget。
Specifically, a vehicle information acquisition part acquires a control command sent by a driver controller or an automatic driving system, and analyzes the control command to obtain a target braking deceleration of the train; obtaining the speed of each axle through information transmission between the train and each vehicle brake control device of the train, comparing the speed of each axle to obtain the highest axle speed, and converting the highest axle speed into the linear speed, namely the train speed; information such as braking force applied by the brake control device is obtained through information transmission with each vehicle brake control device of the train.
The disturbance estimation part carries out online estimation and updating on the total disturbance in the braking process according to the information obtained from the vehicle information acquisition part (the input quantities required by the disturbance estimation part comprise train speed, train electric braking force and train air braking force, the input quantities need to be subjected to filtering processing, the common filtering mode is low-pass filtering or sliding average, namely high-frequency components in signals are filtered out or the average value in a plurality of periods is taken as the input of the disturbance estimation part), and the total disturbance estimation value is obtained. The total disturbance estimation value is calculated as follows:
t1 solving differential equationObtaining an estimated value of the parameter a;
t2 obtaining an estimate of the total disturbance
Wherein,is the derivative of the estimated value of parameter a, and p is the control gain constant; w1-e-λtλ is the system constant; wTIs a transpose of W, is a set value of the load of the train,the train braking force is the sum of the train electric braking force and the train air braking force acquired by the vehicle information acquisition unit, t is the current time, and the current time t is timed relative to the braking deceleration starting time.
Since the braking force does not suddenly change in the actual braking process of the train, an estimation value of the total disturbance is neededLow pass filtering or moving average filtering is also performed.
Braking force calculation and management part combined with estimation value of total disturbanceCalculating the braking force of the train to obtain the target braking force
In the embodiment, the deceleration of the train is calculated according to the speed signals of a plurality of periods, and when the difference between the deceleration of the train and the target value is less than 0.1m/s2When it is used, orderWhen the train slides, if FtargetIf the update value has an increasing trend, then order
The braking force calculation unit calculates a target train braking force F based on the calculated train braking forcetargetThe brake management is performed by first applying an electric brake force, distributing the electric brake force according to the electric brake capability of each traction control unit, distributing the part with insufficient electric brake force according to the air brake capability of each vehicle brake control device, and applying the air brake force by each vehicle brake control device.
The parameters p and lambda need to be tuned in the specific application to determine the better values. p represents the gain of the controller, the larger the value of the gain is, the faster the algorithm converges, but overshoot and oscillation are aggravated when the value exceeds a certain range; λ represents a system constant whose value depends on the characteristics of the system, and too small or too large a value results in a large overshoot and causes the algorithm to converge too slowly. Therefore, the parameter is adjusted by changing the parameter until the control performance is satisfactory, with the adjustment target being that the overshoot of the actual deceleration relative to the target deceleration is not more than 25% and no oscillation occurs. Generally, p has a value in the range of (0, 40) and λ has a value in the range of [0.1,10 ].
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (7)
1. A rail vehicle braking deceleration closed-loop control apparatus comprising:
a vehicle information acquisition unit for acquiring the train speed v, the train electric braking force, the train air braking force, and the target brake deceleration a at the present time in real timetarget；
A disturbance estimation unit that estimates and updates total disturbance in the braking process on-line based on the information acquired from the vehicle information acquisition unit to acquire a total disturbance estimation value;
the calculation method of the total disturbance estimation value is as follows:
t1 solving differential equationObtaining an estimated value of the parameter a;
t2 obtaining an estimate of the total disturbance
Wherein,is the derivative of the estimated value of parameter a, and p is the control gain constant; w1-e-λtλ is the system constant; wTIs a transpose of W, is a set value of the load of the train,the train braking force control method comprises the steps that the sum of train electric braking force and train air braking force obtained by a vehicle information obtaining part is obtained, t is the current time, and the current time t is timed relative to the braking deceleration starting time;
a braking force calculation and management part for calculating the braking force of the train by combining the total disturbance estimation value calculated by the disturbance estimation part to obtain the target braking force
2. The closed-loop control method for the braking deceleration of the railway vehicle comprises the following steps:
step 1, acquiring the train speed v, the train electric braking force, the train air braking force and the target braking deceleration a at the current moment in real timetarget；
2 nd (2)Step, solving differential equationObtaining an estimated value of the parameter a, and continuously updating the estimated value of the parameter a;
wherein,is the derivative of the estimated value of parameter a, and p is the control gain constant; w1-e-λt(ii) a λ is a system constant; wTIs a transpose of W, is a set value of the load of the train,the train braking force control method comprises the steps that the sum of train electric braking force and train air braking force obtained by a vehicle information obtaining part is obtained, t is the current time, and the current time t is timed relative to the braking deceleration starting time;
step 3, calculating the estimated value of the total disturbance
Step 4, calculating the target braking force
3. The rail vehicle brake deceleration closed-loop control method according to claim 2, characterized in that: when the difference between the deceleration of the train and the target braking deceleration is less than 0.1m/s2Then, it is ordered
4. The rail vehicle brake deceleration closed-loop control method according to claim 2, characterized in that: when the train slides, if FtargetIf there is an increasing trend, then order
5. The rail vehicle brake deceleration closed-loop control method according to claim 2, characterized in that: and in the step 3, performing low-pass filtering or moving average filtering processing on the estimated value of the total disturbance obtained by calculation.
6. The rail vehicle brake deceleration closed-loop control method according to claim 2, characterized in that: estimate of total disturbanceLow-pass filtering or moving average filtering is performed.
7. The rail vehicle brake deceleration closed-loop control method according to claim 2, characterized in that: the value range of p is (0, 40), and the value range of lambda is [0.1,10 ].
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111231689A (en) * | 2020-02-17 | 2020-06-05 | 中国神华能源股份有限公司神朔铁路分公司 | Heavy-duty train braking method, device, system and storage medium |
| CN111824093A (en) * | 2020-07-30 | 2020-10-27 | 中车株洲电力机车有限公司 | Rail transit vehicle parking control method and system |
| WO2021037164A1 (en) * | 2019-08-30 | 2021-03-04 | 比亚迪股份有限公司 | Vehicle and braking method and device therefor |
| CN112477830A (en) * | 2019-09-11 | 2021-03-12 | 中车唐山机车车辆有限公司 | Automatic vehicle control method for railway vehicle and terminal equipment |
| CN113183935A (en) * | 2021-06-02 | 2021-07-30 | 中车青岛四方车辆研究所有限公司 | Urban rail vehicle braking system and method based on deceleration closed-loop control |
| CN113591229A (en) * | 2021-09-01 | 2021-11-02 | 北京建筑大学 | Method and system for calculating braking distance of high-speed train |
| CN113619546A (en) * | 2020-05-06 | 2021-11-09 | 中车唐山机车车辆有限公司 | Double closed-loop control method and device of brake system and terminal equipment |
| CN113696863A (en) * | 2020-05-20 | 2021-11-26 | 上汽通用汽车有限公司 | System and method for improving braking delay of intelligent driving vehicle |
| CN113997914A (en) * | 2020-07-28 | 2022-02-01 | 株洲中车时代电气股份有限公司 | Rail vehicle brake control method and device |
| WO2022148079A1 (en) * | 2021-01-05 | 2022-07-14 | 中车株洲电力机车有限公司 | Method and apparatus for supplementing air brake of subway vehicle |
| US11752987B2 (en) | 2019-08-30 | 2023-09-12 | Byd Company Limited | Vehicle and braking method and device therefor |
| US11964591B2 (en) | 2019-08-30 | 2024-04-23 | Byd Company Limited | Vehicle and braking method and device therefor |
| WO2024164810A1 (en) * | 2023-02-10 | 2024-08-15 | 克诺尔车辆设备(苏州)有限公司 | Mark-aligning stopping control method and apparatus for rail vehicle, and computer storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113619546A (en) * | 2020-05-06 | 2021-11-09 | 中车唐山机车车辆有限公司 | Double closed-loop control method and device of brake system and terminal equipment |
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| CN113696863A (en) * | 2020-05-20 | 2021-11-26 | 上汽通用汽车有限公司 | System and method for improving braking delay of intelligent driving vehicle |
| CN113997914A (en) * | 2020-07-28 | 2022-02-01 | 株洲中车时代电气股份有限公司 | Rail vehicle brake control method and device |
| CN113997914B (en) * | 2020-07-28 | 2022-06-21 | 株洲中车时代电气股份有限公司 | Rail vehicle brake control method and device |
| CN111824093A (en) * | 2020-07-30 | 2020-10-27 | 中车株洲电力机车有限公司 | Rail transit vehicle parking control method and system |
| WO2022148079A1 (en) * | 2021-01-05 | 2022-07-14 | 中车株洲电力机车有限公司 | Method and apparatus for supplementing air brake of subway vehicle |
| CN113183935A (en) * | 2021-06-02 | 2021-07-30 | 中车青岛四方车辆研究所有限公司 | Urban rail vehicle braking system and method based on deceleration closed-loop control |
| CN113591229B (en) * | 2021-09-01 | 2023-05-26 | 北京建筑大学 | Method and system for calculating braking distance of high-speed train |
| CN113591229A (en) * | 2021-09-01 | 2021-11-02 | 北京建筑大学 | Method and system for calculating braking distance of high-speed train |
| WO2024164810A1 (en) * | 2023-02-10 | 2024-08-15 | 克诺尔车辆设备(苏州)有限公司 | Mark-aligning stopping control method and apparatus for rail vehicle, and computer storage medium |
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