CN112224029A - Redundancy control method for electromechanical brake system of rail vehicle - Google Patents
Redundancy control method for electromechanical brake system of rail vehicle Download PDFInfo
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- CN112224029A CN112224029A CN202011105282.3A CN202011105282A CN112224029A CN 112224029 A CN112224029 A CN 112224029A CN 202011105282 A CN202011105282 A CN 202011105282A CN 112224029 A CN112224029 A CN 112224029A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- Transportation (AREA)
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- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention provides a redundancy control method of an electromechanical brake system of a railway vehicle, the system comprises the operation cooperative control of a first control module and a second control module which are standby machines in an electromechanical brake control unit, and the operation cooperative control of the first control module and the second control module which are standby machines in each motor control unit in a plurality of motor control units, the method comprises the following steps: the first control module and the second control module respectively receive a braking instruction, acquire a first state code of the opposite side, calculate the braking force of the vehicle according to the first state code, the axle speed information and the load information of the vehicle, distribute the braking force according to the number of basic braking units in the vehicle, generate first, second and third braking force mode signals with distributed braking force information and simultaneously send the first, second and third braking force mode signals to the first motor control module and the second motor control module; and the first or second motor control module acquires the second state code of the opposite side and performs motor drive control according to the second state code of the opposite side and the first, second or third braking force mode signal.
Description
Technical Field
The invention relates to the technical field of brake control, in particular to a redundancy control method for an electromechanical brake system of a railway vehicle.
Background
The existing air braking and hydraulic braking systems have been widely applied in the field of rail transit through development and precipitation for many years, but the traditional air braking and hydraulic braking systems cannot well meet the current requirements due to the large volume, complex pipelines and the risk of environmental pollution, and the exploration and the research and the development of a new type of braking system become necessary trends.
With the innovation of industrial control technology and the rapid development of electronic technology, development space and direction are provided for the brake system in the aspects of high response, light weight, environmental protection and the like, and the brake system can get rid of dependence on air or hydraulic media by further electrification of the brake system. Can replace traditional brake pipe way through the electric wire, replace partial mechanical device such as valves through electronic components, make neotype electromechanical braking system possess advantages such as response height, simple structure are small, green.
The application numbers are: 201610808166.5 discloses a motor-driven friction brake device for a railway vehicle, which comprises a torque motor, a speed reducing mechanism, a ball screw and other components, and realizes the application and the release of electromechanical braking.
The chinese patent introduces a realization manner of the electromechanical brake in the aspect of a mechanical structure, but when the electromechanical brake is really applied to a rail vehicle, it is necessary to have a reasonable overall architecture of the brake system and a brake method to ensure the normal use of the brake function of the rail vehicle. In addition, electronic components are required to replace related mechanical parts of traditional hydraulic and air braking in the electromechanical braking, but the electromechanical braking system in the prior art has low redundancy or even no redundancy, and cannot ensure the safety and reliability of the braking system of the railway vehicle.
Disclosure of Invention
The embodiment of the invention aims to provide a redundancy control method for an electromechanical braking system of a railway vehicle, which aims to solve the problems that the electromechanical braking system in the prior art is low in redundancy or even has no redundancy, and the safety and the reliability of the braking system of the railway vehicle cannot be ensured.
In order to solve the above problems, the present invention provides a redundancy control method for an electromechanical braking system of a railway vehicle, where the electromechanical braking system includes cooperative work control of a first control module and a second control module, which are backup machines for each other, in an electromechanical braking control unit, and cooperative work control of the first motor control module and the second motor control module, which are backup machines for each of a plurality of motor control units, includes:
the first control module and the second control module respectively receive a braking instruction and acquire a first state code of the opposite side, the first control module or the second control module calculates the braking force of the vehicle according to the first state code of the opposite side, the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, distributes the braking force according to the number of basic braking units in the vehicle, generates a first braking force mode signal, a second braking force mode signal and a third braking force mode signal with distributed braking force information, and simultaneously sends the first braking force mode signal, the second braking force mode signal and the third braking force mode signal to the first motor control module and the second motor control module;
the first motor control module or the second motor control module acquires a second state code of the opposite side, and the first motor control module or the second motor control module performs motor drive control according to the second state code of the opposite side and the first braking force mode signal or the second braking force mode signal or the third braking force mode signal.
In one possible implementation, the method further includes:
when the first motor control module or the second motor control module does not receive the first braking force mode signal or the second braking force mode signal or the third braking force mode signal, the first motor braking module or the second motor braking module completes the driving control of the motor according to a hard-line braking instruction.
In one possible implementation manner, the first control module and the second control module respectively receive a braking instruction and obtain a first status code of an opposite party, and the first control module or the second control module calculates the braking force of the vehicle according to the first status code of the opposite party, the braking instruction, the axle speed information of the vehicle, and the load information of the vehicle, distributes the braking force according to the number of basic braking units in the vehicle, generates a first braking force mode signal, a second braking force mode signal, and a third braking force mode signal having the distributed braking force information, and simultaneously sends the first braking force mode signal, the second braking force mode signal, and the third braking force mode signal to the first motor control module and the second motor control module, specifically includes:
the first control module and the second control module receive a braking instruction sent by a vehicle network; the braking instruction comprises a first ID or a second ID, the first ID represents normal braking, and the second ID represents emergency braking;
when the braking instruction comprises a first ID, the first control module calculates the braking force of the vehicle according to the braking instruction, the shaft speed information of the vehicle and the load information of the vehicle, and sends a first state code of the first control module to the second control module, and when the second control module determines that the first state code of the first control module is normal, the second control module does not calculate the braking force of the vehicle;
when the braking instruction comprises a first ID, the first control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, and sends a first state code of the first control module to the second control module, and when the second control module determines that the first state code of the first control module is abnormal, the second control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle;
when the braking instruction comprises a second ID, the second control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, and sends a first state code of the second control module to the first control module, and when the first control module determines that the first state code of the second control module is normal, the first control module does not calculate the braking force of the vehicle;
when the braking instruction comprises a second ID, the second control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, and sends a first state code of the second control module to the first control module, and when the first control module determines that the first state code of the second control module is abnormal, the first control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle;
the first control module or the second control module calculates and distributes braking force for the first motor control module and the second motor control module which are mutually standby in each motor control unit according to the number of basic brake units in the vehicle;
the first control module or the second control module generates the distributed braking force information into first braking force mode signals, second braking force mode signals and third braking force mode signals of different types, and sends the first braking force mode signals, the second braking force mode signals and the third braking force mode signals to the first motor control module and the second motor control module through corresponding channels; the first braking force mode signal, the second braking force mode signal and the third braking force mode signal are a network signal, an analog quantity signal and a digital quantity signal in sequence.
In one possible implementation, the generating the first, second and third braking force mode signals with the distributed braking force information specifically includes:
the first motor control module performs motor drive control according to a first braking force mode signal, a second braking force mode signal and a third braking force mode signal which are sent by the first control module and have distributed braking force information, and sends a second state code of the first motor control module to the second motor control module, and when the second motor control module determines that the second state code is normal, the second motor control module does not perform motor drive control;
the first motor control module performs motor drive control according to a first braking force mode signal, a second braking force mode signal and a third braking force mode signal which are sent by the first control module and have distributed braking force information, and sends a second state code of the first motor control module to the second motor control module, and when the second motor control module determines that the second state code is abnormal, the second motor control module performs motor drive control according to the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are sent by the first control module and have distributed braking force information;
the second motor control module performs motor drive control according to a first braking force mode signal, a second braking force mode signal and a third braking force mode signal which are sent by the second control module and have distributed braking force information, and sends a second state code of the second motor control module to the first motor control module, and when the second motor control module determines that the second state code is normal, the first motor control module does not perform motor drive control;
the second motor control module carries out motor drive control according to the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are sent by the second control module and have the distributed braking force information, and sends the second state code of the second motor control module to the first motor control module, when the second state code is abnormal, the first motor control module carries out motor drive control according to the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are sent by the first control module and have the distributed braking force information.
In one possible implementation, the first motor control module and the second motor control module are different hardware modules.
In a possible implementation manner, the electromechanical braking system further includes a basic braking unit, and the basic braking unit executes a braking action according to a driving signal generated by the first motor control module or the second motor control module controlling the motor driving module.
In one possible implementation, the method further includes:
the first control module or the second control module in the first control module and the second control module which are mutually standby acquires the actual braking force of each corresponding basic brake unit, compares the actual braking force with the distributed braking force information, and redistributes the difference value between the actual braking force of the first number of basic brake units and the distributed braking force information among a second number of basic brake units by the first control module or the second control module when the actual braking force of the first number of basic brake units is smaller than the distributed braking force information; and the sum of the first number and the second number is the total number of foundation brake units corresponding to the first control unit and the second control unit.
In one possible implementation, the method further includes, before the step of:
the first motor control module or the second motor control module acquires a current feedback signal of the motor driving module and a braking force feedback signal of a corresponding basic braking unit; the braking force feedback signal comprises an actual braking force;
and the first motor control module or the second motor control module sends the current feedback signal and the braking force feedback signal to the first control module or the second control module.
In one possible implementation manner, the electromechanical braking system includes a plurality of groups of power supply units, the number of the power supply units is the same as that of the motor control units, the power supply units include a battery management module and an energy storage module, and the method further includes:
the method comprises the steps that a first control module or a second control module obtains vehicle power state information, and when the power state information is normal, a vehicle power supply system supplies power to a motor control unit and a basic braking unit; and when the power supply state information is abnormal, the energy storage module in the power supply unit supplies power to the motor control unit and the basic brake unit.
According to the redundancy control method of the electromechanical braking system of the railway vehicle, provided by the embodiment of the invention, the electromechanical braking control unit comprises the first control module and the second control module which are mutually standby machines, the first control module and the second control module are mutually redundant and generate the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are mutually redundant so as to ensure the command redundancy, the motor control unit comprises the first motor control module and the second motor control module which are mutually standby machines, the first motor control module and the second motor control module are mutually redundant, the hardware structures of the first motor control module and the second motor control module are different, and the failure of braking control when the common cause fault occurs is avoided. When the vehicle power state is normal, the vehicle power supply system supplies power, and when the vehicle power state is abnormal, the energy storage module in the power supply unit supplies power, so that the train can also provide electric energy required by the work of the motor control unit and the basic braking unit when the low-voltage line is disconnected or fails, and the braking performance of the train is ensured. When a single motor control unit or a basic brake unit is abnormal, control instructions of other motor control units can be changed to perform braking force compensation, so that the total friction braking force is ensured to be unchanged, and the stability, reliability and safety of the whole system are improved.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling redundancy of an electromechanical brake system of a railway vehicle according to an embodiment of the present invention;
FIG. 2 is a block diagram of an electromechanical braking system for a rail vehicle according to an embodiment of the present invention;
FIG. 3 is an enlarged view of FIG. 2 provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating step 10 of a method for controlling redundancy in an electromechanical brake system of a railway vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating step 20 of a method for controlling redundancy in an electromechanical brake system of a railway vehicle according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a method for controlling redundancy of an electromechanical brake system of a railway vehicle according to an embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be further noted that, for the convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic flow chart of a method for controlling redundancy of an electromechanical brake system of a railway vehicle according to an embodiment of the present invention. Fig. 2 is a structural diagram of an electromechanical braking system of a railway vehicle according to an embodiment of the present invention. Fig. 3 is an enlarged view of fig. 2 according to an embodiment of the present invention. With reference to fig. 1-3, the rail vehicle electromechanical brake system of the present application is applied to a rail train. The electromechanical brake system comprises electromechanical brake control units with the same number as that of bogies in the whole vehicle and motor control units with the same number as that of basic brake units. The operation cooperative control of the first control module and the second control module which are standby machines in each electromechanical brake control unit, the operation cooperative control of the first motor control module and the second motor control module which are standby machines in each motor control unit, each electromechanical brake control unit corresponding to a certain number of basic brake units, for example, 4, the basic brake units mainly complete brake execution. As shown in fig. 1, the redundancy control method includes:
The braking command can be on the vehicle network and/or a traction braking command on the vehicle hard line, and when the braking commands on the vehicle network and the vehicle hard line are simultaneously available, the priority of the braking command on the vehicle hard line is high. The braking command includes a braking level by which the total braking force can be determined by looking up a corresponding table.
The railway vehicle is provided with an axle speed sensor and a load sensor, the axle speed sensor can measure the axle speed information of the train, and the load sensor can measure the load information of the train. The axle speed information may include a speed of rotation of an axle of the host vehicle per second, and the load information may include a current load of the host vehicle. The electromechanical brake control unit distributes the total braking force among a plurality of vehicles in the train according to the axle speed information, the load information and the braking command of the whole train, thereby calculating the braking force distributed by each vehicle. For each vehicle, the braking force needs to be distributed among a plurality of foundation brake units for braking.
The first status code may be a vital signal, and the normality or abnormality of the vital signal may be represented by 1 and 0, when the first control module has a fault, the second control module may obtain that the first status code fed back by the first control module is 0, and when the first control module has no fault, the second control module may obtain that the first status code fed back by the first control module is 1; when the second control module has a fault, the first control module may obtain that the first status code fed back by the second control module is 0, and when the second control module has no fault, the first control module may obtain that the first status code fed back by the second control module is 1. The state of the subsequent second state code is normal or abnormal, which may be similar to the first state code and is not described herein again.
Fig. 4 is a flowchart illustrating step 10 of a method for controlling redundancy of an electromechanical brake system of a railway vehicle according to an embodiment of the present invention. Referring to fig. 4, step 10 specifically includes the following steps:
101, a first control module and a second control module receive a braking instruction sent by a vehicle network and/or a vehicle hard line; the braking command includes a first ID indicating normal braking or a second ID indicating emergency braking.
The first control module and the second control module receive the braking command at the same time, and the first ID and the second ID in the braking command can be distinguished by means of a flag bit, for example, for a normal braking command during normal braking, the first ID is included, for an emergency braking command during emergency braking, the second ID is included, the first ID can be represented by a flag bit 0, and the second ID can be represented by a flag bit 1. When the brake command includes the first ID, the execution needs to determine again whether the first status code of the first control module indicates normal status or abnormal status, when the first status code of the first control module indicates normal status, step 102 is executed, and when the first status code of the first control module indicates abnormal status, step 103 is executed. When the braking instruction comprises the second ID, when the first state code of the second control module represents that the state is normal, step 104 is executed, and when the second state code of the second control module represents that the state is abnormal, step 105 is executed.
102, when the braking instruction comprises the first ID, the first control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, and sends a first state code of the first control module to the second control module, and when the second control module determines that the first state code of the first control module is normal, the second control module does not calculate the braking force of the vehicle.
103, when the braking instruction comprises the first ID, the first control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, and sends a first state code of the first control module to the second control module, and when the second control module determines that the first state code of the first control module is abnormal, the second control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle.
And 104, when the braking instruction comprises the second ID, the second control module calculates the braking force of the vehicle according to the braking instruction, the shaft speed information of the vehicle and the load information of the vehicle, and sends a first state code of the second control module to the first control module, and when the first control module determines that the first state code of the second control module is normal, the first control module does not calculate the braking force of the vehicle.
And 105, when the braking instruction comprises the second ID, the second control module calculates the braking force of the vehicle according to the braking instruction, the shaft speed information of the vehicle and the load information of the vehicle, and sends a first state code of the second control module to the first control module, and when the first control module determines that the first state code of the second control module is abnormal, the first control module calculates the braking force of the vehicle according to the braking instruction, the shaft speed information of the vehicle and the load information of the vehicle.
And 106, calculating and distributing braking force for the first motor control module and the second motor control module which are mutually standby in each motor control unit by the first control module or the second control module according to the number of the basic brake units in the vehicle.
Therefore, the first control module and the second control module can be redundant mutually and can be switched mutually, namely, a conventional braking instruction can be provided for the second control module, an emergency braking instruction can be provided for the first control module, the redundancy of the electronic mechanical braking control unit is improved, and the safety and the reliability of an electronic mechanical braking system of the railway vehicle are ensured.
The first braking force mode signal, the second braking force mode signal and the third braking force mode signal are sequentially a network signal, an analog quantity signal and a digital quantity signal. When the first control module distributes the braking force, the first control module distributes the braking force and calculates to obtain distributed braking force information, wherein the distributed braking force information comprises the ID of each basic braking unit and the distributed braking force corresponding to the basic braking unit. The distributed braking force information can be transmitted to the corresponding first/second motor control module through the network channel, the analog quantity channel and the digital quantity channel simultaneously, so that the multichannel transmission of the distributed braking force information is realized, and the redundant transmission of the distributed braking force information is realized.
And 20, the first motor control module or the second motor control module acquires a second state code of the opposite side, and the first motor control module or the second motor control module performs motor drive control according to the second state code of the opposite side and the first braking force mode signal or the second braking force mode signal or the third braking force mode signal.
The priority of the first braking force mode signal is higher than the priority of the second braking force mode signal and the priority of the third braking force mode signal, and only when the network state information is abnormal, the first motor control module or the second motor control module carries out motor drive control according to the second braking force mode signal or the third braking force mode signal.
Fig. 5 is a flowchart illustrating step 20 of a method for controlling redundancy of an electromechanical brake system of a railway vehicle according to an embodiment of the present invention. As shown in fig. 5, step 20 includes the following specific steps:
If the first, second and third braking force mode information with the distributed braking force information is sent by the first control module and the second state code of the first control module acquired by the second motor control module is normal, the second motor control module only plays a role in supervision and does not perform motor drive control, and the first motor control module performs motor drive control according to the distributed braking force information; and if the second state code of the first control module acquired by the second motor control module is abnormal, the second motor control module performs motor drive control.
And 203, the second motor control module performs motor drive control according to the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are sent by the second control module and have the distributed braking force information, and sends a second state code of the second motor control module to the first motor control module, and when the second motor control module determines that the second state code is normal, the first motor control module does not perform motor drive control.
And 204, the second motor control module performs motor drive control according to the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are sent by the second control module and have the distributed braking force information, and sends a second state code of the second motor control module to the first motor control module, and when the second motor control module determines that the second state code is abnormal, the first motor control module performs motor drive control according to the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are sent by the first control module and have the distributed braking force information.
Similarly, if the first, second and third braking force mode information with the distributed braking force information is sent by the second control module, the second motor control module performs motor drive control according to the distributed braking force information, if the second state code of the second control module acquired by the first motor control module is normal, the motor control module only plays a role of supervision and does not perform motor drive control, and if the second state code of the second control module acquired by the first motor control module is abnormal, the first motor control module performs motor drive control.
It should be noted that the first motor control module and the second motor control module may be similar hardware or different hardware modules, wherein the first motor control module and the second motor control module may be one of a microprocessor, a microcontroller, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), and a Programmable Logic Device (PLD), and the two modules are different from each other, so as to prevent failure of brake control due to common cause failure.
Further, when the first motor control module or the second motor control module performs motor drive control, a basic brake unit is required to execute the motor drive control, the electromechanical brake control system of the present application further includes the basic brake unit, and fig. 6 is another schematic flow chart of the redundancy control method of the electromechanical brake system of the railway vehicle according to the embodiment of the present invention. As shown in fig. 6, the present application may further include:
and step 30, the basic braking unit executes braking action according to the driving signal generated by the first motor control module or the second motor control module controlling the motor driving module.
The basic brake unit comprises a motor, a speed reducing mechanism, a motion conversion mechanism, a brake lever, a brake pad, a brake disc, a force feedback element and a clutch. The motor in the basic brake unit rotates according to the driving signal, so that the speed reducing mechanism is driven to move, the motion of the speed reducing mechanism is used for driving the motion conversion mechanism to output linear motion, the linear motion of the motion conversion mechanism acts on the brake pad through the brake lever, and the brake force output is realized through a friction pair formed by the brake pad and the brake disc. The feedback element comprises a Hall element and a force sensor, the Hall element feeds back the position of the motor rotor, and the force sensor feeds back the actual braking force to a first motor control module or a second motor control module in the motor control unit, so that the braking force and the accurate control of the release gap are realized through the braking force feedback. The clutch is used for maintaining braking force, and is always electrified in a running state to release the motor shaft; when the braking force needs to be kept, the motor is controlled to apply the braking force to a target value, then the clutch is powered off, and the motor shaft is locked. The release gap is a gap between two friction parts, such as a brake pad and a brake disc, no gap generates friction force during braking, and no gap generates friction force during non-braking.
Further, step 40 may be included after the present application.
Specifically, one electronic mechanical brake control unit in the application corresponds to a plurality of basic brake units, and a first motor control module or a second motor control module acquires a current feedback signal of a motor driving module and a braking force feedback signal of the corresponding basic brake unit; the braking force feedback signal comprises an actual braking force; the first motor control module or the second motor control module sends a current feedback signal and a braking force feedback signal to the first control module or the second control module, the first motor control module or the second motor control module can acquire an actual braking force fed back by the force sensor and feed the actual braking force back to the first control module or the second control module, and after calculation of the first control module or the second control module, if the fact that the actual braking force in one basic braking unit cannot reach the distributed braking force is determined, compensation can be carried out through other basic braking units so as to guarantee that the integral braking force of the vehicle is kept stable. The sum of the first number and the second number may be 4.
Furthermore, whether the wheels are subjected to slippage during braking can be judged through the axle speed information, and when the wheels are subjected to slippage, the anti-skidding protection can be realized by adjusting the braking force of the vehicle, such as the braking force of the vehicle. The braking force distributed by the vehicle can be dynamically adjusted according to the real-time load of the vehicle through the load information, so that the consistency of the braking performances of different loads is ensured.
Further, the present application may also include step 50.
And 50, when the first motor control module or the second motor control module does not receive the first braking force mode signal, the second braking force mode signal or the third braking force mode signal, the first motor braking module or the second motor braking module completes the driving control of the motor according to the hard-wire braking instruction.
Specifically, a first motor control module and a second motor control module in the motor control unit can be directly connected to a vehicle hard line, and when the electromechanical brake control unit breaks down, the first motor control module or the second motor control module in the motor control unit can complete the drive control of the motor according to a hard line brake instruction. For example, when a hard-line emergency braking command is received, the first or second motor control module controls the motor driving module to generate a driving signal according to the braking command so as to drive the basic braking unit to execute a braking operation.
Furthermore, the electromechanical braking system of this application includes multiunit power supply unit, and power supply unit's quantity is the same with motor control unit's quantity, and power supply unit includes battery management module and energy storage module, and power supply unit is used for supplying power for motor control unit and basic brake unit. The specific operation of the power supply unit is explained below.
The power supply unit is connected to a vehicle power supply system, and the internal module is charged through the vehicle power supply system; the battery management module in the power supply unit can monitor the state of the energy storage module and the state of input voltage in real time, and feeds the state of the energy storage module back to the electronic mechanical brake control unit of the vehicle through a network channel, wherein the state of the energy storage module refers to the electric quantity, the voltage and the vital signal of the energy storage module. The electromechanical brake control unit detects the power state of the vehicle, when the power state of the vehicle is normal, the motor control unit and the basic brake unit are powered by the vehicle power supply, and when the power state of the vehicle is abnormal, such as the voltage is too low, the input is disconnected, and the like, the power is supplied by the energy storage module which is connected with the vehicle power supply system in parallel. The vehicle power supply system and the energy storage module of the power supply unit supply power in two ways to realize power supply redundancy, so that the train can provide electric energy required by work for the motor control unit and the basic brake unit when the low-voltage line is disconnected or fails, the brake performance of the train is ensured, and safe and reliable parking is ensured.
According to the redundancy control method of the electromechanical braking system of the railway vehicle, provided by the embodiment of the invention, the electromechanical braking control unit comprises the first control module and the second control module which are mutually standby machines, the first control module and the second control module are mutually redundant and generate the first braking force mode signal and the second braking force mode signal which are mutually redundant so as to ensure the command redundancy, the motor control unit comprises the first motor control module and the second motor control module which are mutually standby machines, the first motor control module and the second motor control module are mutually redundant and have different hardware structures, and the failure of braking control when a common cause fault occurs is avoided. When the vehicle power state is normal, the vehicle power supply system supplies power, and when the vehicle power state is abnormal, the energy storage module in the power supply unit supplies power, so that the train can also provide electric energy required by the work of the motor control unit and the basic braking unit when the low-voltage line is disconnected or fails, and the braking performance of the train is ensured. When a single motor control unit or a basic brake unit is abnormal, control instructions of other motor control units can be changed to perform braking force compensation, so that the total friction braking force is ensured to be unchanged, and the stability, reliability and safety of the whole system are improved.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A redundancy control method for an electromechanical brake system of a rail vehicle is characterized in that the electromechanical brake system comprises the operation cooperative control of a first control module and a second control module which are standby machines in an electromechanical brake control unit, and the operation cooperative control of the first motor control module and the second motor control module which are standby machines in each motor control unit in a plurality of motor control units, and the redundancy control method comprises the following steps:
the first control module and the second control module respectively receive a braking instruction and acquire a first state code of the opposite side, the first control module or the second control module calculates the braking force of the vehicle according to the first state code of the opposite side, the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, distributes the braking force according to the number of basic braking units in the vehicle, generates a first braking force mode signal, a second braking force mode signal and a third braking force mode signal with distributed braking force information, and simultaneously sends the first braking force mode signal, the second braking force mode signal and the third braking force mode signal to the first motor control module and the second motor control module;
the first motor control module or the second motor control module acquires a second state code of the opposite side, and the first motor control module or the second motor control module performs motor drive control according to the second state code of the opposite side and the first braking force mode signal or the second braking force mode signal or the third braking force mode signal.
2. The method of redundant control of an electromechanical brake system of a rail vehicle according to claim 1, characterized in that the method further comprises:
when the first motor control module or the second motor control module does not receive the first braking force mode signal or the second braking force mode signal or the third braking force mode signal, the first motor braking module or the second motor braking module completes the driving control of the motor according to a hard-line braking instruction.
3. The method of claim 1, wherein the first control module and the second control module respectively receive a braking command and obtain a first status code of a counterpart, and the first control module or the second control module calculates the braking force of the vehicle according to the first status code of the counterpart, the braking command, the axle speed information of the vehicle and the load information of the vehicle, distributes the braking force according to the number of basic braking units in the vehicle, generates a first braking force mode signal, a second braking force mode signal and a third braking force mode signal having the distributed braking force information, and simultaneously transmits the first braking force mode signal, the second braking force mode signal and the third braking force mode signal to the first motor control module and the second motor control module, specifically comprises:
the first control module and the second control module receive braking instructions sent by a vehicle network and/or a vehicle hard line; the braking instruction comprises a first ID or a second ID, the first ID represents normal braking, and the second ID represents emergency braking;
when the braking instruction comprises a first ID, the first control module calculates the braking force of the vehicle according to the braking instruction, the shaft speed information of the vehicle and the load information of the vehicle, and sends a first state code of the first control module to the second control module, and when the second control module determines that the first state code of the first control module is normal, the second control module does not calculate the braking force of the vehicle;
when the braking instruction comprises a first ID, the first control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, and sends a first state code of the first control module to the second control module, and when the second control module determines that the first state code of the first control module is abnormal, the second control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle;
when the braking instruction comprises a second ID, the second control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, and sends a first state code of the second control module to the first control module, and when the first control module determines that the first state code of the second control module is normal, the first control module does not calculate the braking force of the vehicle;
when the braking instruction comprises a second ID, the second control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle, and sends a first state code of the second control module to the first control module, and when the first control module determines that the first state code of the second control module is abnormal, the first control module calculates the braking force of the vehicle according to the braking instruction, the axle speed information of the vehicle and the load information of the vehicle;
the first control module or the second control module calculates and distributes braking force for the first motor control module and the second motor control module which are mutually standby in each motor control unit according to the number of basic brake units in the vehicle;
the first control module or the second control module generates the distributed braking force information into first braking force mode signals, second braking force mode signals and third braking force mode signals of different types, and sends the first braking force mode signals, the second braking force mode signals and the third braking force mode signals to the first motor control module and the second motor control module through corresponding channels; the first braking force mode signal, the second braking force mode signal and the third braking force mode signal are a network signal, an analog quantity signal and a digital quantity signal in sequence.
4. The method of claim 1, wherein the generating the first, second and third braking force mode signals with the distributed braking force information includes:
the first motor control module performs motor drive control according to a first braking force mode signal, a second braking force mode signal and a third braking force mode signal which are sent by the first control module and have distributed braking force information, and sends a second state code of the first motor control module to the second motor control module, and when the second motor control module determines that the second state code is normal, the second motor control module does not perform motor drive control;
the first motor control module performs motor drive control according to a first braking force mode signal, a second braking force mode signal and a third braking force mode signal which are sent by the first control module and have distributed braking force information, and sends a second state code of the first motor control module to the second motor control module, and when the second motor control module determines that the second state code is abnormal, the second motor control module performs motor drive control according to the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are sent by the first control module and have distributed braking force information;
the second motor control module performs motor drive control according to a first braking force mode signal, a second braking force mode signal and a third braking force mode signal which are sent by the second control module and have distributed braking force information, and sends a second state code of the second motor control module to the first motor control module, and when the second motor control module determines that the second state code is normal, the first motor control module does not perform motor drive control;
the second motor control module carries out motor drive control according to the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are sent by the second control module and have the distributed braking force information, and sends the second state code of the second motor control module to the first motor control module, when the second state code is abnormal, the first motor control module carries out motor drive control according to the first braking force mode signal, the second braking force mode signal and the third braking force mode signal which are sent by the first control module and have the distributed braking force information.
5. The method of claim 1, wherein the first motor control module and the second motor control module are different hardware modules.
6. The method of claim 1, further comprising a foundation brake unit that performs a braking action based on a driving signal generated by the first or second motor control module controlling the motor drive module.
7. The method of redundant control of an electromechanical brake system of a rail vehicle according to claim 1, characterized in that the method further comprises:
the first control module or the second control module in the first control module and the second control module which are mutually standby acquires the actual braking force of each corresponding basic brake unit, compares the actual braking force with the distributed braking force information, and redistributes the difference value between the actual braking force of the first number of basic brake units and the distributed braking force information among a second number of basic brake units by the first control module or the second control module when the actual braking force of the first number of basic brake units is smaller than the distributed braking force information; and the sum of the first number and the second number is the total number of foundation brake units corresponding to the first control unit and the second control unit.
8. The method of redundant control of an electromechanical brake system of a rail vehicle of claim 7, further comprising, prior to the method:
the first motor control module or the second motor control module acquires a current feedback signal of the motor driving module and a braking force feedback signal of a corresponding basic braking unit; the braking force feedback signal comprises an actual braking force;
and the first motor control module or the second motor control module sends the current feedback signal and the braking force feedback signal to the first control module or the second control module.
9. The method of claim 1, wherein the electro-mechanical brake system includes a plurality of sets of power supply units, the number of power supply units being the same as the number of motor control units, the power supply units including a battery management module and an energy storage module, the method further comprising:
the method comprises the steps that a first control module or a second control module obtains vehicle power state information, and when the power state information is normal, a vehicle power supply system supplies power to a motor control unit and a basic braking unit; and when the power supply state information is abnormal, the energy storage module in the power supply unit supplies power to the motor control unit and the basic brake unit.
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