CN111114583A - Control method for automatic wheel diameter calibration of motor train unit - Google Patents
Control method for automatic wheel diameter calibration of motor train unit Download PDFInfo
- Publication number
- CN111114583A CN111114583A CN201911335462.8A CN201911335462A CN111114583A CN 111114583 A CN111114583 A CN 111114583A CN 201911335462 A CN201911335462 A CN 201911335462A CN 111114583 A CN111114583 A CN 111114583A
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- wheel diameter
- calibration
- speed
- gps
- train unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/12—Measuring or surveying wheel-rims
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- 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 vehicle trains
Abstract
The control method for automatic wheel diameter calibration of the motor train unit, disclosed by the invention, aims at the problem that the actual wheel diameter value of the motor train unit and the wheel diameter stored value in the control system are changed due to abrasion or other reasons, the control system automatically calibrates the wheel diameter, and the wheel diameter is automatically stored after the calibration is finished, so that manual control and manual input of a new wheel diameter are not needed, and the problems that wheel diameter data are distorted and cannot be automatically updated after being lost are solved. The method comprises the following steps: 1) monitoring the running state of the rail vehicle in real time according to the TCMS, and judging whether to execute automatic wheel diameter calibration; 2) the traction control system detects and confirms the error speed of the GPS, and executes automatic wheel diameter calibration after confirming that the speed of the GPS is normal; 3) selecting different calibration speeds according to the difference between the actually measured speed and the GPS speed; 4) and (3) carrying out integral calculation on the difference value of the vehicle speed provided by the GPS and the actually measured vehicle speed of the speed sensor, and adding the calibrated wheel diameter difference value and the wheel diameter stored in the prior art to obtain a calibrated wheel diameter value. 5) After the shortest calibration duration is executed, the wheel diameter value within the allowable range after calibration is saved.
Description
Technical Field
The invention relates to a wheel diameter automatic calibration control method of a motor train unit based on a vehicle control and management system (hereinafter referred to as TCMS) and a traction control system, and belongs to the field of rail vehicle design.
Background
With the rapid development of the motor train unit technology and the improvement of the operation speed, the requirements on the automatic design and the control precision of the rail vehicle electrical system are increasingly improved.
The existing TCMS and traction control system of the railway vehicle need to take accurate wheel diameter values as a basis and important parameters to carry out speed measurement and calculation and running state detection so as to ensure the safe and reliable running of the vehicle. In particular, when the wheel diameter changes due to normal or abnormal wear, or when the stored wheel diameter data is lost due to the re-brushing TCMS/traction control system software, automatic wheel diameter calibration is required to restore to accurate, default wheel diameter data, and then the calibration value is reset and stored.
In the prior art, a manual input mode is commonly adopted to update and store wheel diameter data in a traction control system. After the wheel is turned, the actual wheel diameter value is recorded, and then the wheel diameter is written into the converter control unit through manual control. No wheel diameter calibration is performed until the next wheel cycle.
Due to the above manual wheel diameter writing mode, it is obviously impossible to solve the problems of wheel diameter data distortion and loss caused by abrasion or system software restart, and the system control problems such as traction force being unable to be accurately distributed, load imbalance or error triggering of wheel diameter difference protection are caused.
In view of this, the present application is specifically made.
Disclosure of Invention
The invention provides a control method for automatic wheel diameter calibration of a motor train unit, aiming at solving the problems in the prior art and providing an automatic wheel diameter calculation and calibration method in the running process of a railway vehicle, so as to solve the problem in the prior art that wheel diameter deviation is caused by abrasion or wheel diameter data is lost due to system software restart, the automatically calibrated wheel diameter data is accurate, and the implementation of subsequent protective functions such as vehicle speed control, traction accurate distribution and the like can be ensured.
In order to achieve the design purpose, the application provides a control method for automatic wheel diameter calibration of a motor train unit, aiming at the problem that the actual wheel diameter value of the motor train unit is changed from the stored wheel diameter value in a control system due to abrasion or other reasons, the control system automatically calibrates the wheel diameter, and the wheel diameter is automatically stored after the calibration is completed, so that manual control and manual input of a new wheel diameter are not needed, and the problems that wheel diameter data are distorted and cannot be automatically updated after the wheel diameter data are lost are solved. The method comprises the following steps:
1. a control method for automatic wheel diameter calibration of a motor train unit is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
1) monitoring the running state of the rail vehicle in real time according to the TCMS, and judging whether to execute automatic wheel diameter calibration;
2) the traction control system detects and confirms the error speed of the GPS, and executes automatic wheel diameter calibration after confirming that the speed of the GPS is normal;
3) selecting different calibration speeds according to the difference between the actually measured speed and the GPS speed;
4) calculating the integral of the difference value of the vehicle speed provided by the GPS and the actually measured vehicle speed of the speed sensor, and adding the calibrated wheel diameter difference value and the existing stored wheel diameter to obtain a calibrated wheel diameter value;
5) and executing the shortest calibration duration, and storing the wheel diameter value within the allowable range after calibration.
Further, in the step 1), the parameters of the TCMS monitoring the vehicle running state include running speed, traction/braking force reference value, acceleration/deceleration, handle position, friction braking state, and "loop back" state of the motor train unit.
And 3) setting the difference value between the actually measured speed and the GPS speed to be less than 15% of the GPS speed in the traction control system.
And 5) saving the shortest calibration duration of the wheel diameter to be 15 s.
In summary, the present application can avoid system control problems such as inaccurate traction distribution, unbalanced load or error triggering of wheel diameter difference protection due to the fact that the wheel diameter change cannot be updated in time. Has the advantages that:
1. the automatic calibration control method is realized, the calibrated wheel diameter can be infinitely close to the real wheel diameter, the calibration is accurate, and the subsequent accurate implementation of traction distribution, load balancing and other system control and guarantee links is facilitated.
2. For the condition that large and small wheel diameter deviation exists, conditions such as multiple calibration conditions, duration, result screening and the like are set, and the validity of wheel diameter calibration and the reasonability of storage are effectively guaranteed.
3. The automatic calibration speed is high, the automation degree is high, and the human resources are saved.
Drawings
FIGS. 1-1 through 1-3 are schematic diagrams of three modes of power control of a traction motor of a prior art rail vehicle;
FIG. 2 is a schematic diagram of a speed sensor of the traction motor output shaft monitoring shaft rotational speed;
FIG. 3 is a schematic illustration of wheel diameter calculation and storage using integration;
fig. 4 is a schematic overall flow chart of the automatic wheel diameter calibration method of the present application.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In the vehicle control mode shown in fig. 1-1, 1 motor converter module drives 4-axis traction motors of 2 power bogies of 1 motor car;
as shown in the rack control mode of fig. 1-2, 2 traction motors of 1 power bogie are driven by 1 motor converter module;
as shown in fig. 1-3, the axle control method is to drive 1 traction motor of 1 power bogie by 1 motor converter module.
In the above 3 power control modes, each traction motor is provided with a rotation speed sensor for monitoring the corresponding output shaft.
As shown in fig. 2, 2 traction motors in 1 power bogie in the rack control mode each monitor the rotational frequency, i.e. rotational speed, of each axle through its gearbox speed sensor.
In fig. 1-1 to 1-3, the motor converter module calculates the actual running speed of the vehicle according to the wheel diameter of each wheel stored in advance and the rotation frequency of the axle.
According to the calculation result of the actual running speed of the vehicle, on one hand, the traction control system sends the running speed of the vehicle to the TCMS; on the other hand, the traction control system completes the operations of calculating/distributing the reference value of the traction/braking torque and the like, and simultaneously can complete the protection functions of idle running/sliding monitoring and protection, wheel diameter difference monitoring, power compensation and the like according to the axle speed calculated by the wheel diameter.
The application realizes a control method for automatically calculating and calibrating the wheel diameter to realize the calculation and operation control.
In summary, as shown in fig. 3, the method uses a closed loop control approach to integrate the difference between the GPS vehicle speed and the vehicle speed measured by the speed sensor in a TCMS system or traction control system to make the calibrated wheel diameter infinitely close to the true value; the speed of the integral is controlled according to the difference value between the GPS vehicle speed and the actual vehicle speed measured by the speed sensor, so that the purposes of rough quick calibration when large wheel diameter deviation exists and accurate calibration when small wheel diameter deviation exists are achieved.
Specifically, the control method for calibrating the automatic wheel diameter of the motor train unit comprises the following steps:
1) in order to ensure that the speed change of the motor train unit is as small as possible in the calibration process, and considering that the signal transmission delay easily causes inaccurate speed for wheel diameter calibration, low speed, a loopback state and the like, and the calibration function of the self-alignment function is easily triggered by mistake, a plurality of reference conditions allowing automatic calibration are set in the control system, wherein the reference conditions include but are not limited to speed, traction/braking force reference values, acceleration/deceleration, handle positions, a friction braking state and a motor train unit loopback state.
2) The traction control system detects and calculates the difference value between the actually measured speed and the GPS speed. If the difference is less than 15% of the GPS speed, the traction control system judges that the GPS speed is effective and automatically calibrates the wheel diameter in the traction control system;
3) according to the difference between the actually measured speed and the GPS speed (hereinafter referred to as error speed), the traction control system selects different calibration speeds; when the error speed is larger than 1.1% of the GPS speed, the quick calibration speed is adopted, and the calibration is about 0.2mm per second; when the error speed is less than 1% of the GPS speed, the slow calibration speed is adopted, and the calibration is about 0.05mm per second;
4) and (3) carrying out integral calculation on the difference value of the vehicle speed provided by the GPS and the actually measured vehicle speed of the speed sensor, and adding the calibrated wheel diameter difference value and the wheel diameter stored in the prior art to obtain a calibrated wheel diameter value.
5) In order to prevent the influence of wheel diameter calibration errors caused by large wheel diameter changes in certain execution periods due to factors such as signal interference, sudden changes of received signals and the like on the application of actual wheel diameter errors, after the wheel diameter is calibrated and before the wheel diameter is stored, the shortest calibration duration time 15s is set in a control system, and only after the wheel diameter is calibrated 15, the wheel diameter value in an allowable range is stored. The allowable range of the wheel diameter is determined according to the specifications of the technical conditions of the motor train unit, for example, the harmonious motor train unit, the diameter of the new wheel is 920mm, the full-abrasion straight wheel is 850mm, and the wheel diameter outside the range is regarded as the invalid wheel diameter.
Specifically, the value range and the calculation process of the relevant parameter are the whole control process shown in fig. 4.
As mentioned above, the contents of the solutions given in the drawings and the description are still included in the protection scope of the solution of the present application, unless the structural solutions of the present application are deviated.
Claims (4)
1. A control method for automatic wheel diameter calibration of a motor train unit is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
1) monitoring the running state of the rail vehicle in real time according to the TCMS, and judging whether to execute automatic wheel diameter calibration;
2) the traction control system detects and confirms the error speed of the GPS, and executes automatic wheel diameter calibration after confirming that the speed of the GPS is normal;
3) selecting different calibration speeds according to the difference between the actually measured speed and the GPS speed;
4) calculating the integral of the difference value of the vehicle speed provided by the GPS and the actually measured vehicle speed of the speed sensor, and adding the calibrated wheel diameter difference value and the existing stored wheel diameter to obtain a calibrated wheel diameter value;
5) and executing the shortest calibration duration, and storing the wheel diameter value within the allowable range after calibration.
2. The control method for automatic wheel diameter calibration of the motor train unit according to claim 1, characterized in that: the step 1) is that the parameters of the TCMS for monitoring the running state of the vehicle comprise running speed, traction/braking force reference values, acceleration/deceleration, handle positions, a friction braking state and a 'return' state of the motor train unit.
3. The control method for automatic wheel diameter calibration of the motor train unit according to claim 1, characterized in that: and 3) setting the difference value between the actually measured speed and the GPS speed to be less than 15% of the GPS speed in the traction control system.
4. The control method for automatic wheel diameter calibration of the motor train unit according to claim 1 or 2, characterized in that: and 5) saving the shortest calibration duration of the wheel diameter to be 15 s.
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| CN201911335462.8A CN111114583B (en) | 2019-12-20 | 2019-12-20 | Control method for automatic wheel diameter calibration of motor train unit |
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| CN201911335462.8A CN111114583B (en) | 2019-12-20 | 2019-12-20 | Control method for automatic wheel diameter calibration of motor train unit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550349A (en) * | 2020-11-24 | 2021-03-26 | 卡斯柯信号有限公司 | Method and device for safely storing and calibrating wheel diameter |
| CN113734237A (en) * | 2021-11-03 | 2021-12-03 | 比亚迪股份有限公司 | Method for determining wheel diameter of vehicle, storage medium and electronic device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550349A (en) * | 2020-11-24 | 2021-03-26 | 卡斯柯信号有限公司 | Method and device for safely storing and calibrating wheel diameter |
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| CN113734237A (en) * | 2021-11-03 | 2021-12-03 | 比亚迪股份有限公司 | Method for determining wheel diameter of vehicle, storage medium and electronic device |
| CN113734237B (en) * | 2021-11-03 | 2022-02-08 | 比亚迪股份有限公司 | Method for determining wheel diameter of vehicle, storage medium and electronic device |
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| CN111114583B (en) | 2021-03-19 |
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Address after: No.86, Jinhong East Road, Chengyang District, Qingdao City, Shandong Province Patentee after: Qingdao Sifang Alstom railway transportation equipment Co.,Ltd. Address before: No.86, Jinhong East Road, Chengyang District, Qingdao City, Shandong Province 266111 Patentee before: BOMBARDIER SIFANG (QINGDAO) TRANSPORTATION Ltd. |