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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- train
- estimated value
- braking deceleration
- braking
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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)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- 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 rail vehicle braking system technical fields, and in particular to a kind of pair of rail vehicle braking deceleration into
The brake control and control method of row closed-loop control.
Background technique
Current track vehicle braking control system is open loop in train deceleration degree level, and control system is only to checking cylinder
Pressure carries out closed-loop control, and the process from brake-cylinder pressure to deceleration is uncontrolled.
Whens brake shoe/piece coefficient of friction is by friction secondary speed of related movement, temperature, pressure etc. during rail vehicle braking
The influence of variable element and change, keep train actual braking force bigger than normal or less than normal, to make train actual deceleration degree and target
There are errors for value.
If operating in the sections such as ramp, bend during rail vehicle braking, it is additional to will receive ramp, bend bring
Applied external force, influence of these applied external forces to train are to keep its practical deceleration bigger than normal or less than normal.
Using the practical function value and braking system of the braking system of electric empty composite braking mode its electric braking force from traction
For the electric braking force value of feedback that control unit obtains there may be relatively large deviation, influence of this deviation to train is to subtract it practical
Speed is bigger than normal or less than normal.
If the empty spring pressure sensor for providing load signal to braking system fails or larger measurement error occurs, brake
The brake force that system applies will appear relatively large deviation, and influence of this deviation to train is to keep its practical deceleration bigger than normal or inclined
It is small.
The parameters such as above-mentioned brake shoe/piece coefficient of friction, ramp, bend, load-carrying, electric braking force deviation are time-varying and unknown
, traditional brake control and control method is carried out using in such a way that a certain fixed mode is even directly ignored
Control.
Found through retrieval, 103328303 A of Chinese invention patent application CN, propose a kind of brake pressure arithmetic unit,
Braking control system and program have target cylinder pressure acquisition unit, deceleration difference information acquisition unit and target cylinder pressure
Compensating value acquisition unit is adjusted the cylinder pressure in braking process, so that controlling train actual deceleration degree is intended to target
Value.Two kinds of embodiment its target cylinder pressure correction values are pushed away by tabling look-up and obscuring respectively proposed in the patent application
What reason was realized, adaptability and accuracy are insufficient, and can not the disturbing factors such as brake shoe/piece, ramp be carried out with quantitative calculating or perception.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the disadvantages mentioned above of the prior art, providing one kind can be improved column
Brake control and control method of the deceleration actual value to target value followability in vehicle braking process.
In order to solve the above technical problems, rail vehicle braking deceleration closed-loop control device provided by the invention, packet
It includes：
Information of vehicles acquisition unit, to obtain train speed v, the train electric braking force, train air at current time in real time
Brake force and target braking deceleration atarget；
Estimator is disturbed, according to the information obtained from information of vehicles acquisition unit, total disturbance in braking process is carried out
Line estimation and update obtain total disturbance estimated value；
The calculation method of total disturbance estimated value is as follows：
T1, the differential equation is solvedObtain the estimated value of parameter a；
The estimated value c that T2, acquisition always disturb0=-a λ；
Wherein,For the derivative of the estimated value of parameter a, p is control gain constant；W=1-e-λt, λ is system constants；WTIt is
The transposition of W, For the load-carrying setting value of train,For
The sum of the train electric braking force of information of vehicles acquisition unit acquisition and train air brake force, t is current time, the current time
T is relative to braking deceleration initial time timing；
Brake force operation and management department carry out braking force of train in conjunction with total disturbance estimated value that disturbance estimator is calculated
It calculates, obtains target braking force
The present invention also provides a kind of rail vehicle braking deceleration closed loop control methods, include the following steps：
Step 1, in real time acquisition current time take train speed v, train electric braking force, train air brake force and target
Braking deceleration atarget；
Step 2 solves the differential equationThe estimated value of parameter a is obtained, and to the estimated value of parameter a
It constantly updates；
Wherein,For the derivative of the estimated value of parameter a, p is control gain constant；W=1-e-λt；λ is system constants；WTIt is
The transposition of W, For the load-carrying setting value of train,For
The sum of the train electric braking force of information of vehicles acquisition unit acquisition and train air brake force, t is current time, the current time
T is relative to braking deceleration initial time timing；
The estimated value that step 3, calculating always disturb
Step 4 calculates target braking forceFor the load-carrying setting value of train
In order to further solve above-mentioned technical problem, the present invention also has following improvement：
1, the information of vehicles acquisition unit takes its maximum value or several highest axle speeds to be averaged by comparing each axle speed
Value, or train speed is obtained by the velocity radar on train.
2, the information of vehicles acquisition unit is obtained by the control instruction that parsing driver controller or automated driving system issue
Obtain target braking deceleration.
3, the information of vehicles acquisition unit is braked by the information transmission between each vehicle brake control apparatus of train
The brake force that control device is applied.
4, when the difference of train deceleration degree and target braking deceleration is less than 0.1m/s2When, then it enables
5, when train slides, if FtargetThere is increase tendency, then enables
6, it in the step 3, is carried out at low-pass filtering or moving average filter to the estimated value always disturbed obtained is calculated
Reason.
Deceleration actual value realizes that train braking subtracts to target value followability during the present invention can be improved train braking
The closed-loop control of speed, can be there are the uncertain parameters such as ramp, load-carrying, brake shoe (piece) coefficient of friction, electric braking force deviation
The deviation of the practical braking deceleration of train and target braking deceleration is controlled to lower level when interference.
The present invention facilitates reduction train braking in the process to the dependence of automated driving system, and it is excessively frequent to reduce it
It adjusts, improves train dwelling precision, facilitate train running on scheduled time operation；
The present invention can reduce during train braking that braking deceleration uncontrollability is excessive to be caused the phenomenon that sliding, actively
Train is avoided to slide likes.
The present invention helps to improve train operation stationarity and comfort, promotes passenger experience.
Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is rail vehicle braking deceleration closed-loop control device schematic diagram.
Fig. 2 is rail vehicle braking deceleration closed loop control method schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
The core of rail vehicle braking deceleration closed loop control method of the present invention is always to disturb the acquisition of estimated value, principle
It is as follows：
It is as shown in formula 1 to initially set up simplified train kinematical equation：
Wherein, v indicates that train speed, M indicate train weight, and g is acceleration of gravity, b0For datum drag, θ is ramp slope
It spends (upward slope is positive, and descending is negative), B is total brake force (f) containing coefficient of friction.
It enablesWherein,It is control system according to electric braking force value of feedback and the brake pressure measured
Train electric braking force is calculated and total braking force value that train air brake force is summed again,It is vehicle mass setting
Value, △ ζ are actual values caused by being disturbed due to load-carrying deviation, friction coefficient of brake shoe deviation, electric braking force effect deviation etc.With
Control system calculated valueBetween error, then above formula can be write as：
By gb0+ g θ+△ ζ is equivalent to total disturbance c in braking process0, obtain：
To formula 3 carry out Laplace transformation and both sides with multiplied byIt is filtered, obtains linear parameterization model
Wherein, W=1-e-λt,
It establishes linear parameterization model and designs gradient estimation algorithm later, rememberFor the estimation to parameter a, then
It in the controller can be byEstimate that train running speed is as follows：
Then the evaluated error of train speed is：
The present invention carries out parameter Estimation using gradient estimation algorithm, and principle is to make the update of parameter so that prediction error subtracts
It is small, i.e., it is realized by keeping parameter more new direction opposite with the gradient direction of the squared prediction error about parameter.Formula indicates
For
Then solveThe differential equation of expression is constantly calculated and is updated in disturbance estimator?
Obtain c0Estimated value
As shown in Figure 1, the present embodiment rail vehicle braking deceleration closed-loop control device, including：Information of vehicles acquisition unit,
Disturb estimator and brake force operation and management department.
Information of vehicles acquisition unit obtains acquisition train speed v, the train electric braking force, train air system at current time in real time
Power and target braking deceleration atarget。
Specifically, the control instruction of driver controller or automated driving system sending is obtained by information of vehicles acquisition unit,
Parsing obtains train target braking deceleration；Each axle speed is obtained by the information transmission between each vehicle brake control apparatus of train
It spends and compares to obtain highest axle speed, be converted into linear velocity i.e. train speed；By between each vehicle brake control apparatus of train
Information transmission obtains the information such as the applied brake force of brake control.
Disturbance estimator is according to from the information that information of vehicles acquisition unit obtains, (input quantity needed for disturbance estimator has train
Speed, train electric braking force, train air brake force, these input quantities must be filtered, and common filtering mode is
Low-pass filtering or sliding average filter the radio-frequency component in signal or take the average value in several periods as disturbance estimator
Input), On-line Estimation and update are carried out to total disturbance in braking process, obtain total disturbance estimated value.Total disturbance estimated value
Calculation method it is as follows：
T1, the differential equation is solvedObtain the estimated value of parameter a；
The estimated value that T2, acquisition always disturb
Wherein,For the derivative of the estimated value of parameter a, p is control gain constant；W=1-e-λt, λ is system constants；WTIt is
The transposition of W, For the load-carrying setting value of train,For
The sum of the train electric braking force of information of vehicles acquisition unit acquisition and train air brake force, t is current time, current time t phase
For braking deceleration initial time timing.
Since brake force will not be mutated in the practical braking process of train, therefore need to the estimated value always disturbedAlso it carries out low
Pass filter or moving average filter processing.
Brake force operation and management department combine the estimated value always disturbedBraking force of train calculating is carried out, target braking is obtained
Power
In the present embodiment, train deceleration degree is calculated according to the speed signal in several periods, when train deceleration degree and target value
Difference be less than 0.1m/s2When, it enablesWhen train slides, if FtargetUpdated value has increase tendency then to enable
Brake force operational part is based on the train target braking force F being calculatedtargetBrake management is carried out, carries out electricity first
The application of brake force, according to the capability distribution electric braking force of each traction control unit electric braking, the insufficient part root of electric braking force
It is allocated according to the air damping ability of each vehicle brake control apparatus, air brake force is carried out by each vehicle brake control apparatus
Application.
Parameter p and λ need to debug in a particular application, determine compared with the figure of merit.P indicates controller gain, and value is bigger, algorithm
Convergence is faster, but will lead to overshoot and oscillation aggravation after the value exceeds a certain range；λ indicates that system constants, value depend on
In the characteristic of system, value is too small or big city excessively leads to larger overshoot, and keeps algorithmic statement excessively slow.Therefore it is answered when parameter testing
It is no more than 25% with the overshoot of actual deceleration degree relative target deceleration and oscillation does not occur for debugging target, it is straight changes parameter
Until control performance is satisfied.In general, the value range of p be (0,40], the value range of λ is [0.1,10].
In addition to the implementation, the present invention can also have other embodiments.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (7)
1. a kind of rail vehicle braking deceleration closed-loop control device, including：
Information of vehicles acquisition unit, train speed v, train electric braking force, train air to obtain current time in real time are braked
Power and target braking deceleration atarget；
Estimator is disturbed, according to the information obtained from information of vehicles acquisition unit, total disturbance in braking process is estimated online
Meter and update obtain total disturbance estimated value；
The calculation method of total disturbance estimated value is as follows：
T1, the differential equation is solvedObtain the estimated value of parameter a；
The estimated value that T2, acquisition always disturb
Wherein,For the derivative of the estimated value of parameter a, p is control gain constant；W=1-e-λt, λ is system constants；WTIt is W
Transposition, For the load-carrying setting value of train,For vehicle
The sum of the train electric braking force of information acquiring section acquisition and train air brake force, t is current time, the current time t phase
For braking deceleration initial time timing；
Brake force operation and management department carry out braking force of train meter in conjunction with total disturbance estimated value that disturbance estimator is calculated
It calculates, obtains target braking force
2. rail vehicle braking deceleration closed loop control method, includes the following steps：
Step 1, the train speed v for obtaining current time in real time, train electric braking force, train air brake force and target braking subtract
Speed atarget；
Step 2 solves the differential equationThe estimated value of parameter a is obtained, and continuous to the estimated value of parameter a
It updates；
Wherein,For the derivative of the estimated value of parameter a, p is control gain constant；W=1-e-λt；λ is system constants；WTIt is W
Transposition, For the load-carrying setting value of train,For vehicle
The sum of the train electric braking force of information acquiring section acquisition and train air brake force, t is current time, the current time t phase
For braking deceleration initial time timing；
The estimated value that step 3, calculating always disturb
Step 4 calculates target braking force
3. rail vehicle braking deceleration closed loop control method according to claim 2, it is characterised in that：Work as train deceleration
The difference of degree and target braking deceleration is less than 0.1m/s2When, then it enables
4. rail vehicle braking deceleration closed loop control method according to claim 2, it is characterised in that：When train occurs
When sliding, if FtargetThere is increase tendency, then enables
5. rail vehicle braking deceleration closed loop control method according to claim 2, it is characterised in that：The step 3
In, to calculating, the estimated value always disturbed obtained carries out low-pass filtering or moving average filter is handled.
6. rail vehicle braking deceleration closed loop control method according to claim 2, it is characterised in that：To what is always disturbed
Estimated valueCarry out low-pass filtering or moving average filter processing.
7. rail vehicle braking deceleration closed loop control method according to claim 2, it is characterised in that：The value model of p
Enclose (0,40], the value range of λ is [0.1,10].
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| CN201810629865.2A CN108859781B (en) | 2018-06-19 | 2018-06-19 | Rail vehicle braking deceleration closed-loop control device and control method |
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| CN201810629865.2A CN108859781B (en) | 2018-06-19 | 2018-06-19 | Rail vehicle braking deceleration closed-loop control device and control method |
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Cited By (12)
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11752987B2 (en) | 2019-08-30 | 2023-09-12 | Byd Company Limited | Vehicle and braking method and device therefor |
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| 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 |
| 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 |
| CN113619546B (en) * | 2020-05-06 | 2022-08-12 | 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 |
| 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 |
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