CN109305046A - The transmission control system and method for train traction location data - Google Patents
The transmission control system and method for train traction location data Download PDFInfo
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- CN109305046A CN109305046A CN201811153835.5A CN201811153835A CN109305046A CN 109305046 A CN109305046 A CN 109305046A CN 201811153835 A CN201811153835 A CN 201811153835A CN 109305046 A CN109305046 A CN 109305046A
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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
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for 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
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for vehicles
- B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention provides a kind of vehicle-mounted data Transmission systems for train location data, including speed-position detection system, for acquiring the location data of the train, and the timestamp of acquisition time is characterized for location data addition, the pull-in control system on the speed-position detection system and ground is synchronized to same clock source；And in-vehicle wireless communication system, for the location data and associated timestamp to be sent to ground.The present invention also provides a kind of ground receiver control systems for train location data, comprising: terrestrial wireless communication system, for receiving location data and associated timestamp from train；And ground pull-in control system, it is synchronized to same clock source with vehicle-mounted speed-position detection system, for generating precise positioning data based on the location data and associated timestamp, to execute traction control based on motor of the precise positioning data to the train.
Description
Technical field
The present invention relates to the control field of magnetic suspension train more particularly to a kind of train traction for magnetic suspension train are fixed
The transmission control system and method for position data.
Background technique
Technology of track traffic is an important component in current traffic system, and uses and often lead long stator technology
Magnetic floating traffic is a kind of efficient, economic, convenient and fast technology of track traffic again.In magnetic suspension traffic system, between train and ground
The communication system of high efficient and reliable is to guarantee the key point of safe train operation.Vehicle-ground wireless communication system is magnetic-levitation train ground
Important communication bridge between train, it is possible to provide safe and reliable vehicle-ground wireless communication transmission channel.Magnetic floats car-ground radio
The requirements such as safety, reliability, the real-time of data transmission are to ensure that the basic guarantee of magnetic-levitation train safe operation.
It is floating using synchronous motor control technology often to lead long stator magnetic, when magnetic-levitation train low rate start, trailer system needs
The instantaneous precise position information of train.Positioning system on train is by absolute position transducer, relative position sensor and positioning
Module composition.Locating module is responsible for handling the data of absolute position transducer and relative position sensor, by train location information
It is transmitted to train traction control system by onboard wireless electric control unit, ground (subregion) is transmitted to by car radio system
Radio communications system, the traction current transformation control system for being then transferred to pull-in control system are controlled for traction electric machine.
Train traction location data is higher to the requirement of real-time of vehicle-ground wireless communication system, it is desirable that network end-to-end is unidirectional
Propagation delay time is no more than 5ms.While meeting transmission real-time, wireless network also needs to guarantee the safety of location data
Property, integrality and reliability, safe and reliable communication is carried out with ground to meet train under high-speed cruising state, single
System can be still maintained to operate normally and continuously transmit no interruption in the case of unit failure.
In linear synchronous generator control technology, original wireless communication system is by way of quickly handling, by train
Traction location data shortest path and privately owned control protocol are transmitted to pull-in control system.Fig. 1 is shown using private radio
The delay performance of the magnetic floating system of communication system.As shown in Figure 1, in the magnetic floating system for using private wireless communication system,
Realize the end-to-end delay performance requirement less than 5ms.However above-mentioned technology is in the communication system of existing extensive mature application
It can not directly transplanting application in system.Main cause is exactly that the wireless communication system of mature application follows certain standard agreement frame
Frame cannot freely control transmission path and formulate proprietary protocol.
When magnetic-levitation train normal operation, trailer system needs to carry out field orientation using the precise position information of train.?
Magnetic is floating using in the case where conventional wireless communication systems, and time delay is generally larger than 10ms end to end.This leads to train position
Accuracy and real-time are severely impacted, and cannot achieve accurately controlling for traction electric machine, directly affect the accurate of motor thrust
Property and stability.When location information error is larger, it may cause electric efficiency and be greatly reduced, or even cause motor out of control.Tradition
The transmitting of motor position information using the wireless communication modes such as LTE, WLAN, both modes have that transmission delay is big, delay
The disadvantages of violent is shaken, motor control difficulty is increased, affects the performance of transmission system, it is therefore desirable to a kind of new velocity potential
Set information transfer scheme.
Summary of the invention
A brief summary of one or more aspects is given below to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and be both not intended to identify critical or decisive element in all aspects also non-
Attempt to define the range in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts are with the sequence for more detailed description given later.
According to an aspect of the present invention, a kind of vehicle-mounted data Transmission system for train location data, comprising:
Speed-position detection system for acquiring the location data of the train, and is location data addition characterization acquisition time
Timestamp, the pull-in control system on the speed-position detection system and ground is synchronized to same clock source；And
In-vehicle wireless communication system, for the location data and associated timestamp to be sent to ground.
In one example, which is equipped with vehicle positioning satellite antenna, for receiving satellite positioning letter
Number；And clock acquisition module, for acquiring clock signal from the satellite positioning signal, which adopts from the clock
Collection module receives the clock signal to realize that In-vehicle networking clock is synchronous.
In one example, which includes synchronous time mark and standard time.
In one example, which includes relative position sensor, for sensing the relative position of train；Absolutely
To position sensor, for sensing the absolute position of train；And acquisition device, for exhausted with this from the relative position sensor
Include the location data of train relative position and train absolute position to position sensor acquisition and generates the timestamp.
According to another aspect of the present invention, a kind of ground receiver control system for train location data is provided, is wrapped
Terrestrial wireless communication system is included, for receiving location data and associated timestamp from train；And ground traction control
System processed is synchronized to same clock source with vehicle-mounted speed-position detection system, for being based on the location data and associated time
Stamp generates precise positioning data, to execute traction control based on motor of the precise positioning data to the train.
In one example, which further includes Ground Positioning Satellite antenna, for receiving satellite positioning signal；Clock acquisition
Module, for acquiring clock signal from the satellite positioning signal；And wireless centrex system and communication backbone, the wireless centrex
The clock signal is accessed the communication backbone by system, which receives clock letter from the communication backbone
Number to realize that ground network clock is synchronous.
In one example, which accesses the communication backbone for the clock signal by PTP+2M agreement,
The clock signal is accessed the ground pull-in control system by PTP+SyncE agreement by the communication backbone.
In one example, which determines the location data according to the timestamp and current local time
Delay, and the precise positioning is estimated according to train speed data of the train within the period of the delay and the location data
Data.
In one example, which determines the location data according to the timestamp and current local time
Delay, and determine according to the timestamp and the delay motor absolute position deviation and electrical angle deviation of the train, and base
In the motor absolute position deviation and the electrical angle deviation compensation location data to determine the accurate positioning data.
In one example, which includes magnetic suspension train, which includes linear synchronous motor.
According to another aspect of the present invention, a kind of vehicle-mounted data transmission method for train location data is provided, is wrapped
It includes:
By the location data of the speed-position detection system acquisition train, and for the location data addition characterization acquisition time when
Between stab, the pull-in control system on the speed-position detection system and ground is synchronized to same clock source；And
The location data and associated timestamp are sent to ground.
In one example, this method further includes receiving satellite positioning signal；Clock signal is acquired from the satellite positioning signal；
And realize that In-vehicle networking clock is synchronous to the test position fix system time service via the clock signal.
In one example, which includes synchronous time mark and standard time.
In one example, acquiring the location data and adding the timestamp includes from relative position sensor and absolute position
Sensor acquisition is set to include the location data of train relative position and train absolute position and generate the timestamp.
According to another aspect of the present invention, a kind of ground receiver control method for train location data is provided, is wrapped
It includes:
Receive the location data from train and associated timestamp；And
The location data is based on by ground pull-in control system and associated timestamp generates precise positioning data, with base
Traction control, the ground pull-in control system and vehicle-mounted speed-position detection are executed in motor of the precise positioning data to the train
System is synchronized to same clock source.
In one example, this method further includes receiving satellite positioning signal；Clock signal is acquired from the satellite positioning signal；
Via wireless centrex system by the clock signal access communications backbone network；And by the communication backbone via the clock signal pair
The ground pull-in control system time service is to realize that ground network clock is synchronous.
In one example, which accesses the communication backbone for the clock signal by PTP+2M agreement,
The clock signal is accessed the ground pull-in control system by PTP+SyncE agreement to draw to the ground by the communication backbone
Control system time service.
In one example, which includes determining the positioning according to the timestamp and current local time
The delay of data；And estimate this precisely according to train speed data of the train within the period of the delay and the location data
Location data.
In one example, which includes determining the positioning according to the timestamp and current local time
The delay of data；The motor absolute position deviation and electrical angle deviation of the train are determined according to the timestamp and the delay；And
Based on the motor absolute position deviation and the electrical angle deviation compensation location data to determine the accurate positioning data.
In one example, which includes magnetic suspension train, which includes linear synchronous motor.
Detailed description of the invention
After the detailed description for reading embodiment of the disclosure in conjunction with the following drawings, it better understood when of the invention
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and has similar correlation properties or feature
Component may have same or similar appended drawing reference.
Fig. 1 shows the floating delay performance schematic diagram using private wireless communication system of magnetic；
Fig. 2 shows conventional motor control schematic illustrations；
Fig. 3 shows the system block diagram of location data transmission control system according to an aspect of the present invention；
Fig. 4 shows the delay schematic diagram of location data according to an aspect of the present invention in transmission process；
Fig. 5 shows the schematic diagram of system clock synchronization scheme according to an aspect of the present invention；
Fig. 6 shows the position data collecting transmission flow figure of vehicle-mounted end according to an aspect of the present invention；
The location data that Fig. 7 shows ground surface end according to an aspect of the present invention receives control flow chart；And
Fig. 8 shows the information transport stream figure of the traction location data of an example according to the present invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.Note that below in conjunction with attached drawing and specifically real
The aspects for applying example description is merely exemplary, and is understood not to carry out any restrictions to protection scope of the present invention.
Requirement for magnetic floating traffic trailer system to real-time property is accurately positioned, when being based on the invention proposes one kind
Between stab the control program of synchronous magnetic-levitation train tractive location data transmission, provide accurate compensation of delay for pull-in control system
Value, so that the requirement of real-time for solving the problems, such as that exact position obtains is high.
Console device accurately calculates data transmission delay and by way of compensate the time difference by clock reference, drops
Requirement of the low traction synchronously control to communication delay.By this method, so that trailer system is on control strategy can be used by
The precise position information that general wireless communication system (including: LTE etc.) provides.
Before specifically introducing the solution of the present invention, the motor control principle of magnetic-levitation train is briefly introduced first.Often lead length
Stator magnet is floating to use synchronous motor control technology.Linear synchronized motor is also to be developed by corresponding electric rotating motivation,
Working principle is analogous to common electric rotating motivation.The magnetic pole of linear synchronized motor can by DC excitation winding excitation or by
Permanent magnet excitation.
It is passed through symmetrical three phase sine alternating current in threephase stator winding, is encouraged in the air gap travelling-magnetic-field and direct current of generation
Under the collective effect of magnetic magnetic pole and magnetic field, air-gap field generates electromagnetic push to DC excitation magnetic pole mover, if primary fix not
Dynamic, then under the action of the electromagnetic push, magnetic pole is just moved in a straight line along the direction that travelling-magnetic-field moves, and magnetic pole moves
Speed it is identical as the speed of travelling-magnetic-field.
The linear synchronized motor applied in magnetic floating traffic has bigger drive for linear induction motor
Power, control performance and position precision are more preferable.Fig. 2 shows the control principle schematic diagrames of long stator synchronous linear motor.In Fig. 2
In, dotted arrow indicates the transmittance process of location information.As can be seen from Figure 2, location information is transferred to through Exterior Communications System
After electric machine control system, motor coordinate transformation is carried out in conjunction with the signals such as voltage, electric current, to obtain ginseng needed for motor control
Amount.
Therefore, train location data it is accurate whether directly influence accurate control to motor.
Fig. 3 shows the system block diagram of location data transmission control system 100 according to an aspect of the present invention.In Fig. 3
Upper end be linear motor (stator), be the control object of trailer system.Right side below linear motor is vehicle-mounted end, including is surveyed
Fast positioning system 111 and in-vehicle wireless communication system 112.Left side below linear motor is ground surface end, including terrestrial wireless leads to
Letter system 121, ground pull-in control system 122, traction current transformation system 123 and ground trailer system 122 and terrestrial wireless communication
The communication backbone 124 and wireless centrex system 125 and clock acquisition module 126 that system 121 communicates.
Speed-position detection system 111 can be used for acquiring the location data of train.The location data is subsequent be transferred to ground with
It is used to execute the traction control to motor for ground pull-in control system.Particularly, speed-position detection system 111 can be to be collected
Location data add timestamp, which can characterize the precise acquisition time of associated location data.
For this purpose, speed-position detection system 111 be synchronized to the pull-in control system on ground end system, especially ground it is same
Clock source.By this method, after which can send ground to together with associated location data, can be used for transmission
Time delay is compensated to obtain accurate location data, to realize being precisely controlled for motor.
Specifically, speed-position detection system 111 may include relative position sensor 1111 and absolute position transducer 1112.Phase
The relative position of train can be sensed to position sensor 1111, absolute position transducer 1112 can sense the absolute position of train.
Acquisition device 1113, also referred to as locating module can acquire phase from relative position sensor 111 and absolute position transducer 1112
Position position and absolute position are to obtain location data.
More preferably, acquisition device 1113 is directly location data according to the time of sampling while using location data
Add corresponding timestamp.
In-vehicle wireless communication system 112 is connect with speed-position detection system 111, and by its location data collected, i.e. phase
To location information and absolute location information etc., antenna 1121 is sent to ground surface end wireless communication system by wireless communication.Vehicle-mounted nothing
The equipment that line communication system 112 can be not limited to a certain model is also possible to insertion and is mounted on other equipment (such as vehicle-mounted running control system
System) in component or veneer.
Here, in-vehicle wireless communication system 112 and terrestrial wireless communication system 121 can sample conventional wireless communication system
To realize.Technology described herein can be used for various wireless communication systems, such as CDMA, TDMA, FDMA, OFDMA, SC-
FDMA and other systems.Term " system " and " network " are often used interchangeably.Cdma system can realize such as universal grounding
Wirelessly it is electrically accessed the radio technologies such as (UTRA), cdma2000.UTRA includes wideband CDMA (W-CDMA) and other CDMA variants.
In addition, cdma2000 covers IS-2000, IS-95 and IS-856 standard.TDMA system can realize such as global system for mobile communications
(GSM) radio technologies such as.OFDMA system can realize such as evolved UTRA (E-UTRA), Ultra-Mobile Broadband (UMB), IEEE
802.11(Wi-Fi)、IEEE 802.16(WiMAX)、IEEE 802.20、Flash-Or the like radio skill
Art.UTRA and E-UTRA is the part of Universal Mobile Telecommunications System (UMTS).3GPP long term evolution (LTE) is using E-UTRA
UMTS version uses OFDMA on the uplink and uses SC-FDMA on uplink.UTRA,E-UTRA,UMTS,
LTE and GSM is described in the document of the tissue from entitled " third generation partnership project (3GPP) ".In addition, cdma2000 and UMB
It is described in the document of the tissue from entitled " third generation partnership project 2 " (3GPP2).
According to an aspect of the present invention, speed-position detection system 111 and the time synchronization of ground pull-in control system 122 are logical
Cross and the clock of the two be synchronized to same clock source respectively to realize, for example, be synchronized to GPS (global positioning system) or
BD (Beidou satellite alignment system).
In one example, vehicle positioning satellite antenna 1122 can be configured in in-vehicle wireless communication system 112 to defend to receive
Star positioning signal.Here vehicle positioning satellite antenna 1122 may include GPS antenna or BD antenna.In addition, in-vehicle wireless communication
System 112 may be configured with associated clock acquisition module (not shown), for acquiring clock from satellite positioning signal
Signal.Generally, which may include synchronous time mark and standard time.In-vehicle wireless communication system 112 and speed-position detection
System 111 can receive the clock signal to realize that In-vehicle networking synchronizes always.
In ground surface end, terrestrial wireless communication system 121 can receive the nothing that train end issues by antenna 1211 by wireless communication
Line signal, to obtain location data and the associated timestamp from train.Terrestrial wireless communication system 121 is determined what is received
Position data and associated timestamp are supplied to ground pull-in control system 122 to realize the traction control to train motor.
Traction current transformation system 123 can be connect with ground pull-in control system 122, be controlled according to the instruction of trailer system 122
The electric current and current direction of linear synchronous motor realize that train is run according to the instruction of central control system.
According to an aspect of the present invention, ground pull-in control system 122 is synchronized to same with vehicle-mounted speed-position detection system
Clock source.As previously mentioned, it is fixed to receive this from vehicle-mounted speed-position detection system acquisition location data to ground pull-in control system 122
Position data, need to undergo a variety of delays.
Fig. 4 can be seen that location data to be had from positioning speed-measuring system acquisition data to in-vehicle wireless communication system is provided to
Postpone Δ t1, then from in-vehicle wireless communication system be transmitted to terrestrial wireless communication system have delay Δ t2, then from terrestrial wireless communication
System, which is supplied to pull-in control system, delay Δ t3。
By this method, ground pull-in control system 122, can be to transmission after obtaining location data and associated timestamp
Time delay is compensated to obtain accurate location data, to realize being precisely controlled for motor.
In one example, ground pull-in control system 122 can determine location data according to timestamp and current local time
Delay Δ t1+Δt2+Δt3.Furthermore real-time speed of the ground pull-in control system 122 for train within the period of the delay
Know, therefore can estimate precise positioning according to train speed data of the train within the period of the delay and the location data
Data, as is readily appreciated by a person skilled in the art, specific estimation repeat no more.
In another example, ground pull-in control system 122 can determine positioning according to the timestamp and current local time
The delay Δ t of data1+Δt2+Δt3, thus by motor absolute position deviation that the timestamp and the time-delay conversion are train and
Electrical angle deviation, so that the original location data received based on motor absolute position deviation and electrical angle deviation compensation is with true
Surely data are accurately positioned, as is readily appreciated by a person skilled in the art, specific conversion and compensation repeat no more.
Above two example is only the non-limiting example for compensating delay acquisition and being accurately positioned data, any art technology
Other compensation schemes that personnel are readily apparent that are also encompassed within the scope of the invention.
Precise positioning data shield is obtained, it can be combined progress with voltage, current information by ground pull-in control system 122
Motor coordinate transformation, to obtain parameter needed for motor control.This is well known to those skilled in the art, and repeats no more.
Ground network may include wireless centrex system 125 and communication backbone 126.The achievable nothing of wireless centrex system 125
Line transmits the convergence and distribution of data, interconnects with other service sub-systems, provides reliable bidirectional data communication service for them,
All wireless access data are required through core layer and External system communication.Communication backbone 126 can draw with ground and control
System processed, wireless centrex system, terrestrial wireless communication system connection, by equipment groups such as the interchangers of offer communication transmission passage
At establishing the wireline communication network of ground all devices.
, can be on ground in order to realize synchronizing always for ground network, such as Ground Positioning Satellite can be set in control centre
Antenna 1241 receives satellite positioning signal, acquires clock signal from satellite positioning signal by clock acquisition module 124.Wireless centrex
System 125 is communicated with clock acquisition module 124, by clock signal access communications backbone network 126, ground pull-in control system
122 can receive clock signal from communication backbone 126 to realize that ground network clock is synchronous.More preferably, terrestrial wireless communication system
System 121 can also receive clock signal from communication backbone 126 to realize that ground network clock is synchronous.
In one example, wireless centrex system 125 can be by 1588V2 (PTP)+2M agreement by clock signal access communications
Backbone network 126, and clock signal can be accessed ground traction by synchronous ether (SyncE) agreement of PTP+ by communication backbone 126
Control system 122.
Fig. 5 shows the schematic diagram of system clock synchronization scheme according to an aspect of the present invention.It is provided below in conjunction with Fig. 5
A kind of system of the invention concrete scheme synchronous always.
For magnetic-suspension tractive system, it is extremely to close that the clock of one-port equipment room, which synchronizes, with how ensuring network vehicle
One of the problem of key, Clock Synchronization Technology mainly coordinate the consistency of receiving-transmitting sides in time.Vehicle ground one-port equipment
Clock step-out can cause great influence to magnetic-suspension tractive system, and trailer system can not obtain the precise location information of magnetic-levitation train,
Accurately control traction current can not be thus exported, motor power output accuracy and current transformer utilization rate are seriously affected.
The present invention selects a clock reference, and including but not limited to GPS/BD utilizes redundancy as synchronous base clock source
1588V2 mode is synchronous to realize network clocking, to ensure data are transmitted in vehicle-ground wireless communication system synchronism, for traction
The real-time Transmission of location data provides reference time benchmark.
A set of 1588V2 clock system (master clock source) is disposed in Ci Fu control centre equipment room, accesses the bone of control centre
Dry net transmission device disposes a set of 1588V2 clock system (standby clock source) in parking lot/rolling stock section and accesses Backbone Transport
Equipment, two-way 1588V2 signal flood in a network simultaneously, and transmission switching mechanism is according to BMC algorithm picks master clock source, the whole network institute
Some interchangers are synchronous with master clock source, if master clock source failure can be quickly synchronous with standby clock source, to guarantee system
The synchronous high reliability of clock.Time service is carried out to all subregion terrestrial wireless communication system equipment of the whole network by 1588V2, is reduced
The problems such as project plan that the independent deployment GPS/BD antenna of each subregion terrestrial wireless communication equipment introduces is difficult.When 1588V2
The deployment signal of clock synchronizer is as shown in Figure 5.
Clock synchronization process is carried out using the redundancy clock method of synchronization, it is ensured that car-ground radio system receiving-transmitting sides are in time
Consistency provides time reference benchmark to draw the processing of location data.
To ensure that magnetic floats the synchronization of data transmission in vehicle-ground wireless communication system, it is desirable that realized according to unified standard time clock
Clock between the network equipment is synchronous, and synchronizer is main in system can include: in-vehicle wireless communication system, terrestrial wireless communication
The equipment such as system, communication backbone, wireless centrex system.1588V2 clock synchronization mode includes the synchronization of ground installation clock and vehicle
It carries equipment clock to synchronize, terrestrial clock is synchronous as follows with an example of onboard clock Synchronization Design.
(a) ground installation clock synchronization mode
Ground installation clock system uses external GPS/BD antenna, and receives satellite by GPS/BD receiver and issue
Signal, obtain accurate location information, synchronous time mark and standard time.The GPS analog signal that time acquisition module will acquire
It is converted to 1588V2 signal and is transferred to internal home network equipment, magnetic floats in vehicle-ground wireless communication network system, and clock signal is passed through
Transmission node and telephone net node support 1588V2 agreement.
After clock system receives the locking of GPS/BD satellite-signal, Backbone Transport equipment time service is given by PTP+2M form
(including time and frequency)；The time is carried out using 1588V2 (PTP)+synchronous ether (SyncE) between transmission device and frequency is same
Step, i.e. time synchronization use PTP mode, and Frequency Synchronization is using SyncE (synchronous ether) mode；Transmission device passes through 1588V2
(PTP)+synchronous ether mode (PTP+SyncE) gives terrestrial wireless communication equipment (including Base Band Unit and radio frequency unit) time service.
(b) mobile unit clock synchronization mode
Magnetic floats vehicle mounted radio communication device configuration vehicle GPS/BD clock acquisition module, by being external to outside car body
GPS/BD antenna receives the signal of satellite sending, obtains accurate reference time source and clock source.Onboard wireless radio control list
Member obtains synchronous time mark and standard time from vehicle GPS/BD module, and it is synchronous to complete vehicle netbios clock.
Fig. 6 shows the flow chart of the position data collecting transmission flow 600 of vehicle-mounted end according to an aspect of the present invention.
As shown in fig. 6, process 600 may include following steps.
Step 601, by the location data of speed-position detection system acquisition train, and for the location data addition characterization acquisition when
Between timestamp.
According to an aspect of the present invention, the pull-in control system on the speed-position detection system and ground is synchronized to same clock
Source.
In one example, acquiring the location data and addition timestamp may include from relative position sensor and absolute position
Sensor acquisition is set to include the location data of train relative position and train absolute position and generate the timestamp.
Step 602, the location data and associated timestamp are sent to ground.
In order to realize that time synchronization, process 600 may also include reception satellite positioning signal, when being acquired from satellite positioning signal
Clock signal, and realize that In-vehicle networking clock is synchronous to the time service of test position fix system via the clock signal.In one example, when
Clock signal includes synchronous time mark and standard time.
The location data that Fig. 7 shows ground surface end according to an aspect of the present invention receives the flow chart of control flow.Such as
Shown in Fig. 7, process 700 may include following steps.
Step 701, location data and associated timestamp from train are received.
Step 702, which is based on by ground pull-in control system and associated timestamp generates precise positioning
Data, to execute traction control based on motor of the precise positioning data to train.
According to an aspect of the present invention, ground pull-in control system and vehicle-mounted speed-position detection system are synchronized to same clock
Source.
In order to realize that clock is synchronous, process 700 may also include reception satellite positioning signal, from the satellite positioning letter received
Number acquisition clock signal, via wireless centrex system by clock signal access communications backbone network, and by communication backbone via
Clock signal realizes that ground network clock is synchronous to ground pull-in control system time service.
In one example, wireless centrex system communicates bone by PTP+2M agreement by clock signal access communications backbone network
PTP+SyncE agreement is crossed for clock signal access ground pull-in control system to ground pull-in control system time service by dry Netcom.
In order to generate precise positioning data, in one example, positioning can be determined according to the timestamp and current local time
The delay of data, and precise positioning is estimated according to train speed data of the train within the period of the delay and the location data
Data.
In another example, in order to generate precise positioning data, positioning can be determined according to timestamp and current local time
The delay of data according to the motor absolute position deviation and electrical angle deviation of timestamp and the determining train that is delayed, then is based on the electricity
Machine absolute position deviation and the electrical angle deviation compensation location data are to determine accurate positioning data.
Above two example is only the non-limiting example for compensating delay acquisition and being accurately positioned data, any art technology
Other compensation schemes that personnel are readily apparent that are also encompassed within the scope of the invention.
Although for simplify explain the above method is illustrated to and is described as a series of actions, it should be understood that and understand,
The order that these methods are not acted is limited, because according to one or more embodiments, some movements can occur in different order
And/or with from it is depicted and described herein or herein it is not shown and describe but it will be appreciated by those skilled in the art that other
Movement concomitantly occurs.
Fig. 8 shows the information transport stream figure of the traction location data of a specific example according to the present invention.Specific
In application example, magnetic-levitation train speed-position detection system may include that 2 PRW (traction location data) equipment is located at train head, 2
PRW is located at the train tailstock.4 groups of location informations (PRW L1, PRW L2, PRW R1, PRW that 4 PRW equipment is come on the beginning and the end vehicle
R2) ground pull-in control system is issued to being combined into a message PRW (L1+L2+R1+R2) after vehicle-ground wireless communication system.Fig. 8 shows
Out be information transmission process for single partition both end power supplying scene.
The following table 1 and table 2 show the coded format of the transmission signal of traction location data according to an aspect of the present invention.
Information frame format uses character-oriented transport protocol, is transferred to traction by terrestrial wireless communication system by channel 1, channel 2
The information communication format of control system motor control unit (MCU) is as shown in table 1 below.
1 information frame format 1 of table
Pull-in control system motor control unit (MCU) is transferred to by terrestrial wireless communication system by channel 3, channel 4
Information communication format it is as shown in table 2 below.
2 information frame format 2 of table
4 groups of position datas of 4 sets of train positioning systems on magnetic-levitation train.The letter of 13 byte information contents of each PRW
Coded format (the wherein timestamp informations of 48~79 totally 4 bytes) are ceased, the coded format of PRW signal message is as shown in table 3 below.
3 information frame format of table
In above- mentioned information frame, 8~15 are the magnetic pole phase angle informations detected.8th be flag bit, if 1, then after 7
It is effective for data；If 0, then show to break down.7 be expression orientation angle afterwards.The range of magnetic pole phase angle is 0~360 °, often
One resolution ratio is 360 °/127, is approximately equal to 2.8 ° of every bits.Train is every to reset (in corresponding to by one group of locating sign board
Between block intermediate point), then restart to accumulate.
16~27 are locating sign board (LRF) information, reflect the absolute position of train.16th indicates on a left side for track
Side or right side, if 0, then it represents that on the left of track, if 1, then it represents that on the right side of track.17th~27 is expression current location
The coding of locating sign board, corresponding to current danger spot position.The coding of each group locating sign board define and its it is corresponding absolutely
Position is determined according to concrete application route.
30~31 be the traffic direction information of train, and coding " 11 " indicates positive direction, and coding " 00 " indicates opposite direction.
32~47 instruction train relative positions (ASI), from a certain group of locating sign board (with the central point of intermediate one block of plate
Subject to) start, train is every to pass through 6 tooth socket period (1 360 °) ASI numerical value plus or minus ones, and when forward direction is run, ASI numerical value increases
Add 1, when inverted running, ASI numerical value reduces 1, accumulative with this.Train is every to reset by one group of locating sign board, then opens again
Begin to accumulate.
It is according to the present invention based on timestamp propagation delay time estimation and compensation way, by draw location data generate when
Between and location data send together, in the data packet transmitted between network comprising traction location data information and timestamp letter
Breath.Transmitting terminal is placed on traction alignment measurement and its time in one data packet, so that receiving end pull-in control system is being received
Timestamp is also obtained while to measured value, and by the timestamp value compared with local clock, when calculating end-to-end transmission
Prolong value and compensates.
Progress motor coordinate in conjunction with the signals such as obtained electrical angle and voltage, electric current is calculated based on accurate location data
Transformation improves traction electric machine control precision and change to obtain parameter needed for motor control to complete traction electric machine control
Device utilization rate is flowed, reducing magnetic-suspension tractive system reduces the requirement of real-time of precise position information.By this method, it reduces and leads
Draw the control technology difficulty of control system, it is ensured that the accuracy of traction electric machine power output promotes current transformer utilization rate, also improves whole
The robustness of a system.
The present invention can make full use of existing conventional wireless communication systems, establish the synchronously control mould based on clock reference
Type, it is more more accurate than only with the control for reducing time delay index using the model cootrol train.And when compared to other transmission
Prolong higher wireless land mobile communication system, the solution of the present invention reduce wireless land mobile communication system technical threshold and integral into
This.
Those skilled in the art will further appreciate that, the various illustratives described in conjunction with the embodiments described herein
Logic plate, module, circuit and algorithm steps can be realized as electronic hardware, computer software or combination of the two.It is clear
Explain to Chu this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees generalization description.Such functionality be implemented as hardware or software depend on concrete application and
It is applied to the design constraint of total system.Technical staff can realize every kind of specific application described with different modes
Functionality, but such realization decision should not be interpreted to cause departing from the scope of the present invention.
In conjunction with presently disclosed embodiment describe various illustrative logic modules and circuit can with general processor,
Digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic
Device, discrete door or transistor logic, discrete hardware component or its be designed to carry out any group of function described herein
It closes to realize or execute.General processor can be microprocessor, but in alternative, which can be any routine
Processor, controller, microcontroller or state machine.Processor is also implemented as calculating the combination of equipment, such as DSP
With the combination of microprocessor, multi-microprocessor, one or more microprocessors to cooperate with DSP core or any other this
Class configuration.
The step of method or algorithm for describing in conjunction with embodiment disclosed herein, can be embodied directly in hardware, in by processor
It is embodied in the software module of execution or in combination of the two.Software module can reside in RAM memory, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, register, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor so that the processor can be from/to the storage
Medium reads and writees information.In alternative, storage medium can be integrated into processor.Pocessor and storage media can
It resides in ASIC.ASIC can reside in user terminal.In alternative, pocessor and storage media can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware, or any combination thereof
Middle realization.If being embodied as computer program product in software, each function can be used as one or more item instructions or generation
Code may be stored on the computer-readable medium or be transmitted by it.Computer-readable medium includes computer storage medium and communication
Both media comprising any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium of computer access.It is non-limiting as example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storages, disk storage or other magnetic storage apparatus can be used to carrying or store instruction
Or data structure form desirable program code and any other medium that can be accessed by a computer.Any connection is also by by rights
Referred to as computer-readable medium.For example, if software is using coaxial cable, fiber optic cables, twisted pair, digital subscriber line
(DSL) or the wireless technology of such as infrared, radio and microwave etc is passed from web site, server or other remote sources
It send, then the coaxial cable, fiber optic cables, twisted pair, DSL or such as infrared, radio and microwave etc is wireless
Technology is just included among the definition of medium.Disk (disk) and dish (disc) as used herein include compression dish
(CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) are often reproduced in a manner of magnetic
Data, and dish (disc) with laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
Offer is to make any person skilled in the art all and can make or use this public affairs to the previous description of the disclosure
It opens.The various modifications of the disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to other variants without departing from the spirit or scope of the disclosure.The disclosure is not intended to be limited as a result,
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (20)
1. a kind of vehicle-mounted data Transmission system for train location data, comprising:
Speed-position detection system for acquiring the location data of the train, and is location data addition characterization acquisition time
Timestamp, the pull-in control system on the speed-position detection system and ground is synchronized to same clock source；And
In-vehicle wireless communication system, for the location data and associated timestamp to be sent to ground.
2. vehicle-mounted data Transmission system as described in claim 1, which is characterized in that the in-vehicle wireless communication system is equipped with:
Vehicle positioning satellite antenna, for receiving satellite positioning signal；And
Clock acquisition module, for acquiring clock signal from the satellite positioning signal,
The test position fix system receives the clock signal from the clock acquisition module to realize that In-vehicle networking clock is synchronous.
3. vehicle-mounted data Transmission system as claimed in claim 2, which is characterized in that the clock signal include synchronous time mark and
Standard time.
4. vehicle-mounted data Transmission system as described in claim 1, which is characterized in that the speed-position detection system includes:
Relative position sensor, for sensing the relative position of train；
Absolute position transducer, for sensing the absolute position of train；And
Acquisition device, for including train relative position from the relative position sensor and absolute position transducer acquisition
With the location data of train absolute position and generate the timestamp.
5. a kind of ground receiver control system for train location data, comprising:
Terrestrial wireless communication system, for receiving location data and associated timestamp from train；And
Ground pull-in control system is synchronized to same clock source with vehicle-mounted speed-position detection system, for being based on the positioning number
According to and associated timestamp generate precise positioning data, to be executed based on the precise positioning data to the motor of the train
Traction control.
6. ground receiver control system as claimed in claim 5, which is characterized in that further include:
Ground Positioning Satellite antenna, for receiving satellite positioning signal；
Clock acquisition module, for acquiring clock signal from the satellite positioning signal；And
The clock signal is accessed the communication backbone by wireless centrex system and communication backbone, the wireless centrex system
Net, the ground pull-in control system receive the clock signal from the communication backbone to realize that ground network clock is same
Step.
7. ground receiver control system as claimed in claim 6, which is characterized in that the wireless centrex system passes through PTP+2M
The clock signal is accessed the communication backbone by agreement, when the communication backbone will be described by PTP+SyncE agreement
Clock signal accesses the ground pull-in control system.
8. ground receiver control system as claimed in claim 5, which is characterized in that the ground pull-in control system is according to institute
It states timestamp and current local time determines the delay of the location data, and according to the train within the period of the delay
Train speed data and the location data estimate the precise positioning data.
9. ground receiver control system as claimed in claim 5, which is characterized in that the ground pull-in control system is according to institute
It states timestamp and current local time determines the delay of the location data, and determined according to the timestamp and the delay
The motor absolute position deviation and electrical angle deviation of the train, and it is based on motor absolute position deviation and the electrical angle
Location data described in deviation compensation is with the determination accurate positioning data.
10. ground receiver control system as claimed in claim 5, which is characterized in that the train includes magnetic suspension train, institute
Stating motor includes linear synchronous motor.
11. a kind of vehicle-mounted data transmission method for train location data, comprising:
The location data of the train as described in speed-position detection system acquisition, and for the location data addition characterization acquisition time when
Between stab, the pull-in control system on the speed-position detection system and ground is synchronized to same clock source；And
The location data and associated timestamp are sent to ground.
12. vehicle-mounted data transmission method as claimed in claim 11, which is characterized in that further include:
Receive satellite positioning signal；
Clock signal is acquired from the satellite positioning signal；And
Realize that In-vehicle networking clock is synchronous to the test position fix system time service via the clock signal.
13. vehicle-mounted data transmission method as claimed in claim 12, which is characterized in that the clock signal includes synchronous time mark
And the standard time.
14. vehicle-mounted data transmission method as claimed in claim 11, which is characterized in that acquire the location data and addition
The timestamp includes:
It include the positioning of train relative position and train absolute position from relative position sensor and absolute position transducer acquisition
Data simultaneously generate the timestamp.
15. a kind of ground receiver control method for train location data, comprising:
Receive the location data from train and associated timestamp；And
The location data is based on by ground pull-in control system and associated timestamp generates precise positioning data, to be based on
The precise positioning data execute traction control to the motor of the train, and the ground pull-in control system tests the speed with vehicle-mounted
Positioning system is synchronized to same clock source.
16. ground receiver control method as claimed in claim 15, which is characterized in that further include:
Receive satellite positioning signal；
Clock signal is acquired from the satellite positioning signal；
Via wireless centrex system by the clock signal access communications backbone network；And
By the communication backbone via the clock signal to the ground pull-in control system time service to realize ground network
Clock is synchronous.
17. ground receiver control method as claimed in claim 16, which is characterized in that the wireless centrex system passes through PTP+
The clock signal is accessed the communication backbone by 2M agreement, and the communication backbone will be described by PTP+SyncE agreement
Clock signal accesses the ground pull-in control system to the ground pull-in control system time service.
18. ground receiver control method as claimed in claim 15, which is characterized in that the generation precise positioning data packet
It includes:
The delay of the location data is determined according to the timestamp and current local time；And
According to train speed data and the location data estimation precise positioning of the train within the period of the delay
Data.
19. ground receiver control method as claimed in claim 15, which is characterized in that the generation precise positioning data packet
It includes:
The delay of the location data is determined according to the timestamp and current local time；
The motor absolute position deviation and electrical angle deviation of the train are determined according to the timestamp and the delay；And
It is described accurate fixed with determination based on location data described in motor absolute position deviation and the electrical angle deviation compensation
Position data.
20. ground receiver control method as claimed in claim 15, which is characterized in that the train includes magnetic suspension train,
The motor includes linear synchronous motor.
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| CN201811153835.5A CN109305046A (en) | 2018-09-30 | 2018-09-30 | The transmission control system and method for train traction location data |
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| CN201811153835.5A CN109305046A (en) | 2018-09-30 | 2018-09-30 | The transmission control system and method for train traction location data |
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| CN111162855A (en) * | 2020-01-02 | 2020-05-15 | 中车青岛四方机车车辆股份有限公司 | Simulation method and system for generation and transmission of positioning signal |
| CN111016975A (en) * | 2020-01-02 | 2020-04-17 | 中车株洲电力机车有限公司 | Speed measurement positioning method and system of magnetic-levitation train and magnetic-levitation train |
| CN113580949A (en) * | 2020-04-16 | 2021-11-02 | 中车株洲电力机车研究所有限公司 | Method and system device for multiple bearing of magnetic suspension traffic linear motor |
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| CN112564842A (en) * | 2020-12-21 | 2021-03-26 | 交控科技股份有限公司 | Time correction method and device for control system of railway vehicle |
| CN112564842B (en) * | 2020-12-21 | 2022-12-16 | 交控科技股份有限公司 | Control system timing method and device for railway vehicle |
| CN114056352A (en) * | 2021-12-24 | 2022-02-18 | 上海海积信息科技股份有限公司 | Automatic driving control device and vehicle |
| CN114056352B (en) * | 2021-12-24 | 2024-07-02 | 上海海积信息科技股份有限公司 | Automatic driving control device and vehicle |
| CN117130015A (en) * | 2023-08-30 | 2023-11-28 | 迈思数字(深圳)科技有限公司 | GPS position synchronization device and method thereof |
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