CN112224242A - Train based on 5G wireless marshalling, train wireless marshalling method and train wireless decompiling method - Google Patents
Train based on 5G wireless marshalling, train wireless marshalling method and train wireless decompiling method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention provides a train based on 5G wireless marshalling, a wireless marshalling method of the train and a wireless decompiling method of the train, wherein the train comprises the following components: a plurality of train units comprising a system; the system comprises a vehicle-mounted 5G wireless reconnection control system for sending a formation reconnection signal and a control signal, wherein a train unit comprises a formation control unit for calculating and generating the control signal, a wireless communication unit, a positioning unit for acquiring train positioning information, an interval detection unit for acquiring interval distance between trains and a train control and management unit for controlling the speed of the train unit according to the control signal; the invention utilizes the 5G communication technology to realize the direct communication among the trains, and the train marshalling technology based on the wireless communication realizes the flexible marshalling and marshalling of the trains according to the passenger flow condition when in operation, replaces a signal system, increases the maximum bearing capacity of the rail vehicle, and drives different marshalling trains with change according to the passenger flow fluctuation of the rail traffic, thereby realizing the autonomous driving of the trains.
Description
Technical Field
The invention relates to the technical field of rail transit vehicles, in particular to a train based on 5G wireless marshalling, a wireless marshalling method of the train and a wireless decompiling method of the train.
Background
With the rapid increase of urban population, the current single railway operation mode cannot meet the requirement of people on quick and frequent trips, the number of trains on duty or in spring peak is insufficient according to the current departure arrangement, the passenger flow is insufficient and the train number is wasted at ordinary times, the green energy conservation and sustainable development are realized, the pressure caused by traffic jam is reduced, the requirements of people on trips and diversified information data are met, and the energy consumption is reduced, so that the problem facing the whole rail transit industry is solved. The existing train operation mode is as follows:
the CBTC (communication Based Train Control system) Train automatic Control system adopts a signal system to Control trains, needs to set a minimum Train running interval, becomes a mobile block, has fixed bearing capacity of rail trains, can not flexibly switch a marshalling mode, and has large Train interval.
The CTCS 4-level train operation control system cancels a track circuit on the ground, and a wireless block center and train control vehicle-mounted equipment jointly complete train positioning and integrity check to realize virtual block or mobile block.
However, the existing train operation mode still has the following disadvantages:
1. in the prior art, train-ground communication is mainly used, and the ground is used for controlling the train to run, namely, the train sends information to the ground, and the ground processes and sends commands, so that the time delay is high.
2. The movement blockage of the train, namely a certain interval is required between the trains, and the railway load capacity is reduced.
3. The flexible marshalling of the train which is separated from the coupler cannot be realized, namely, the train can only be marshalled in a parking lot and then operates according to ground requirements, but cannot be communicated with adjacent trains to form marshalling in the operation process, and the flexible marshalling is not flexible enough and the operation is not green enough.
4. The ground equipment is many, and the cost of equipment, maintenance cost and the like need to be considered.
Disclosure of Invention
In light of the technical problems set forth above, a train based on 5G wireless formation, a wireless train formation method, and a wireless train decommissioning method are provided. The invention mainly utilizes the advanced 5G communication technology to realize the direct communication between the trains, and the train flexible marshalling technology based on the wireless communication can realize the flexible marshalling and the marshalling according to the passenger flow condition when the trains run, increase the maximum bearing capacity of the rail vehicles, and drive different marshalling trains with change according to the passenger flow fluctuation of the rail traffic, and adopt the large marshalling in the peak period and adopt the small marshalling in the peak-off period to realize the autonomous driving of the trains.
The technical means adopted by the invention are as follows:
a 5G wireless consist-based train comprising: a plurality of train units comprising a system; the system comprises a vehicle-mounted 5G wireless reconnection control system, and the train unit comprises a formation control unit, a wireless communication unit, a positioning unit, an interval detection unit and a train control and management unit;
the vehicle-mounted 5G wireless reconnection control system is used for sending a grouping reconnection signal and a control signal, and the control signal is generated by a grouping control unit in a calculation mode.
The marshalling control unit is also connected with a positioning unit, an interval detection unit and train control and management;
the positioning unit is used for acquiring positioning information of the train;
the interval detection unit is used for acquiring the interval distance between the trains;
the train control and management unit is used for controlling the speed of the train unit according to the control signal;
further, the on-vehicle 5G wireless reconnection control system is used for:
and carrying out train formation through a formation operation unit according to the formation reconnection signals.
According to the control signal, train formation operation control is carried out through a train control and management unit, and further, the vehicle-mounted 5G wireless reconnection control system is also connected with a ticket center and used for:
and calculating departure configuration of the starting station and intermediate marshalling change configuration according to ticket selling information provided by the ticket center.
Further, the train realizes the distance control between the train units based on a grouping control algorithm.
Furthermore, the train unit is also provided with a vehicle-mounted wireless communication unit of a specific dial switch, and the vehicle-mounted wireless communication unit is used for forwarding train information to the vehicle-mounted 5G wireless reconnection control system.
The invention also provides a train wireless marshalling method based on the 5G wireless marshalling, which comprises the following steps:
s1, establishing the following workshop communication conditions: when the train with the same speed grade is on the same line, the speed of the front train is lower than that of the rear train, and the control center judges that the distance between the train and the train reaches the communication critical distance, a signal is given out to enable the front train and the rear train to communicate;
s2, establishing grouping conditions: the two trains can be grouped and run for more than or equal to 30 min; no packet loss occurs in the messages of 10 continuous communication periods; reaching a critical communication distance;
s3, calculating the minimum distance of the coordinated grouping operation, wherein the calculation formula is as follows:
Smin＝Tsum×Vback+ΔS+d
Tsum＝tc+tp+tb
wherein S isminMinimum distance, T, representing coordinated consist operationsumRepresenting a delay time, VbackRepresenting the running speed of the rear vehicle, Delta S representing the emergency braking distance difference of the two vehicles, d representing the safety margin, tcIndicating the time of interruption of communication, tpRepresents the algorithm execution time, tbIndicating a brake application time to the issuance of a brake command;
and S4, adjusting the target interval according to different working conditions of the two trains, so that the two trains reach the stable target interval.
Further, the critical communication distance is a distance which ensures that no collision accident occurs in the emergency state of two trains.
The invention also provides a train wireless decompiling method based on 5G wireless marshalling, which comprises the following steps:
when the front train judges that the marshalling train runs on different lines after a while, the front train controls the running of the rear train according to the difference between the current running speed and the running distance between the two trains after the marshalling, so that the distance between the two trains is gradually increased;
the front vehicle sends an order to the rear vehicle, and the rear vehicle returns a response frame after receiving the order;
after the front vehicle receives the response frame, setting the initial operation state in the topology frame as the forbidden initial operation;
and starting an automatic driving mode after the rear vehicle receives the topological frame forbidden to operate initially, and finishing the decoding.
Compared with the prior art, the invention has the following advantages:
1. according to the train based on the 5G, the train wireless marshalling method and the train wireless marshalling method, the train control is mainly performed by vehicle-to-vehicle communication, the ground communication is assisted, and the time delay is reduced.
2. According to the train, the train wireless marshalling method and the train wireless marshalling method based on 5G, the advanced flexible marshalling control algorithm is adopted to enable the two trains to be in reconnection (namely the two trains are changed into one train), the train-to-train distance is reduced, and the moving block is cancelled;
3. the train, the wireless train marshalling method and the wireless train marshalling method based on 5G can realize marshalling of the train in the running process, so that the train is more flexible, and is more energy-saving and environment-friendly from the aerodynamic perspective; meanwhile, a series of vehicle control equipment on the ground is eliminated, and the manufacturing cost and the maintenance cost are solved.
4. The train, the train wireless marshalling method and the train wireless marshalling method based on 5G provided by the invention can realize dynamic distribution of train traveling, carry out reasonable division according to traveling personnel and time, calculate the train distance, realize dynamic reconnection of the train and the train, separate from a coupler, realize autonomous driving of the train, reduce movement block and improve the carrying capacity. And a new operation mode is provided, so that the intelligent promotion of the train is realized.
Based on the reason, the invention can be widely popularized in the fields of rail transit vehicles and the like.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a schematic diagram of the connection relationship of the wireless grouping control system according to the present invention.
Fig. 3 is a schematic diagram of the establishment of group communication according to the present invention.
FIG. 4 is a schematic diagram of input and output of each functional unit according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1, the present invention provides a train based on a 5G wireless consist, comprising: a plurality of train units comprising a system; the system comprises a vehicle-mounted 5G wireless reconnection control system, and the train unit comprises a formation control unit, a wireless communication unit, a positioning unit, an interval detection unit and a train control and management unit;
the vehicle-mounted 5G train wireless reconnection control system is used for acquiring a control signal, and the control signal is generated by the vehicle-mounted 5G train wireless reconnection control system according to a marshalling reconnection signal sent by the wireless marshalling control system;
as shown in fig. 2, the consist control unit is further connected with a wireless communication unit, a positioning unit, an interval detection unit and a train control and management unit;
the positioning unit is used for acquiring positioning information of the train;
the interval detection unit is used for acquiring the interval distance between the trains;
and the train control and management unit is used for controlling the speed of the train unit according to the control signal.
Preferably, the vehicle-mounted 5G wireless reconnection control system is configured to: and carrying out train formation and operation control through a train control and management unit according to the formation signal and the control signal.
Preferably, the vehicle-mounted 5G wireless reconnection control system is further connected with a ticketing center, and is configured to: and calculating departure configuration of the starting station and intermediate marshalling change configuration according to ticket selling information provided by the ticket center. A shunting schedule is performed according to the configuration. The shunting arrangement information is sent to a wireless marshalling control system, and the wireless marshalling control system receives the shunting arrangement information sent by the ground control center. And performing data interaction with all trains in the area, and monitoring the running state of the trains and turnout information all the time. The system has the functions of issuing train information, dispatching trains in the warehouse, issuing electronic maps and running schedules to the trains and the like.
Preferably, the train implements spacing control between train units based on a consist control algorithm.
In another preferred embodiment of the invention, the train communicates with the ground, the farther the communication distance of each base station is, the fewer base stations are needed, the better, the requirement time delay is less than 500ms, the smaller the better, and the communication bandwidth between the train and the train is more than or equal to 500 KB. Compared with LTE-R (long term evolution-radio) technology, the 5G technology has small time delay and high transmission speed, is also the mainstream technology of train-ground wireless and train-vehicle wireless in the future, adopts the 5GD2D technology to realize the communication between a short-distance train and the train, can realize the transmission of data without time delay, and is the basis of interval calculation and train cooperative control.
Preferably, the train unit is further provided with a vehicle-mounted wireless communication unit of a specific dial switch, and the vehicle-mounted wireless communication unit is used for forwarding train information to the vehicle-mounted 5G wireless reconnection control system. And simultaneously, a bridge is built for reconnection with other trains. Based on this:
the invention also provides a train wireless marshalling method based on 5G communication, which comprises the following steps:
s1, establishing the following workshop communication conditions: when the train with the same speed grade is on the same line, the speed of the front train is lower than that of the rear train, and the control center judges that the distance between the train and the train reaches the communication critical distance, a signal is given out to enable the front train and the rear train to communicate;
s2, establishing grouping conditions: the two trains can be grouped and run for more than or equal to 30min (the running tracks and running states of the trains and the front train are consistent within 30 min); no packet loss occurs in the messages of 10 continuous communication periods; reaching a critical communication distance; as shown in fig. 3, a schematic diagram of group communication is established. The cooperative operation is realized by integrating the trains in the marshalling as a whole and unifying the marshalling operation process controlled by the head train on the basis of wireless marshalling among a plurality of trains. The main function of the train cooperative control technology is to control the train to keep a safe driving distance in the wireless marshalling process, and the input and output of each functional unit are shown in fig. 4.
S3, the minimum distance of the cooperative marshalling operation is the minimum value which can be reached by the train distance when two trains are in the cooperative marshalling operation; and calculating the minimum distance of the cooperative grouping operation, wherein the calculation formula is as follows:
Smin＝Tsum×Vback+ΔS+d
Tsum＝tc+tp+tb
wherein S isminMinimum distance, T, representing coordinated consist operationsumRepresenting a delay time, VbackTable for indicating rear vehicle running speed, delta SIndicating the difference between the emergency braking distances of two vehicles, d indicating the safety margin, tcIndicating the time of interruption of communication, tpRepresents the algorithm execution time, tbIndicating a brake application time to the issuance of a brake command;
in the process of train cooperative control, firstly, a rear train runs before a front train, and the target interval is adjusted according to different working conditions of the two trains through marshalling cooperative control. The mode is a driving process that a rear vehicle overtakes a front vehicle and finally reaches a stable target interval. The target of interval control is achieved by controlling a certain interval of the train in the running process to adopt a certain running speed. And adjusting the target interval according to different working conditions of the two vehicles by the grouping cooperative control. Maximum acceleration a in the process of train speed changeupAnd maximum deceleration adownOperation, while the rate of change of acceleration (jerk) should not affect passenger comfort. The front vehicle runs at a constant speed of V1, the rear vehicle runs at a constant speed of V2, and V2 is greater than V1. Table 1 shows the following vehicle and front vehicle following process under different working conditions.
TABLE 1 rear vehicle overtaking front vehicle Process
And S4, adjusting the target interval according to different working conditions of the two trains, so that the two trains reach the stable target interval.
Definition of S0The minimum target spacing distance, S, between two vehicles in stable running1A target separation distance between the front and rear vehicles, dzFor the train shaking distance, the driving process after the two trains reach the stable target interval is as follows:
acceleration of front vehicle
Both front and rear vehicles have speed V1Start accelerating to reach speed V2And then the operation is stable.
Spaced apart by a distance S0When the vehicle is driven, the front vehicle applies traction firstly, and the rear vehicle gradually applies traction according to interval control.
Spaced apart by a distance S1When S is present0＜S1In time, the front and rear vehicles simultaneously apply traction or braking force.
Front vehicle uniform speed
According to the load of the train, the front train and the rear train simultaneously apply traction force or braking force. At the moment, a distance peristaltic adjustment mode is adopted to adjust the interval distance of the small segments.
The vehicle interval is composed of0Is changed into S0+dzDuring the running, the rear vehicle decelerates firstly and then accelerates, and finally runs at a speed V with the front vehicle stably1。
The vehicle interval is composed of0Is changed to S0-dzThe rear vehicle accelerates and decelerates firstly and then stably runs at a speed V with the front vehicle1。
Front vehicle speed reduction
Stable running speed V of front and rear vehicles1Start to decelerate to reach speed V2And then the operation is stable.
Spaced apart by a distance S0When the braking force is applied, the front vehicle applies the braking force firstly, and the rear vehicle gradually applies the braking force according to the interval control.
Spaced apart by a distance S1When the vehicle is running, the front vehicle applies braking force first and the rear vehicle keeps speed V first1Gradually decreasing the interval; after the vehicle runs to the deceleration distance, the rear vehicle applies braking force to start deceleration, and the target spacing distance is gradually reached.
The invention also provides a train wireless de-compiling method based on 5G communication, which comprises the following steps:
when the front train judges that the marshalling train runs on different lines after a while, the front train controls the running of the rear train according to the difference between the current running speed and the running distance between the two trains after the marshalling, so that the distance between the two trains is gradually increased;
the front vehicle sends an order to the rear vehicle, and the rear vehicle returns a response frame after receiving the order;
after the front vehicle receives the response frame, setting the initial operation state in the topology frame as the forbidden initial operation;
and starting an automatic driving mode after the rear vehicle receives the topological frame forbidden to operate initially, and finishing the decoding.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A train based on 5G wireless marshalling, characterized by comprising: a plurality of train units comprising a system; the system comprises a vehicle-mounted 5G wireless reconnection control system, and the train unit comprises a formation control unit, a wireless communication unit, a positioning unit, an interval detection unit and a train control and management unit;
the vehicle-mounted 5G wireless reconnection control system is used for sending a grouping reconnection signal and a control signal, and the control signal is generated by a grouping control unit in a calculation mode.
The marshalling control unit is connected with the positioning unit, the interval detection unit and the train control and management;
the positioning unit is used for acquiring positioning information of the train;
the interval detection unit is used for acquiring the interval distance between the trains;
and the train control and management unit is used for controlling the speed of the train unit according to the control signal.
2. The 5G wireless consist based train of claim 1, wherein the onboard 5G wireless reconnection control system is configured to:
and carrying out train formation through a formation operation unit according to the formation reconnection signals.
And performing train formation operation control through a train control and management unit according to the control signal.
3. The train based on 5G wireless marshalling of claim 1, wherein the on-board 5G wireless reconnection control system is further connected with a ticketing center for:
and calculating departure configuration of the starting station and intermediate marshalling change configuration according to ticket selling information provided by the ticket center.
4. The 5G wireless consist-based train according to claim 1, wherein the train implements spacing control between train units based on a consist control algorithm.
5. The train based on 5G wireless marshalling of claim 1, wherein the train unit is further provided with an on-board wireless communication unit of a specific dial switch, and the on-board wireless communication unit is used for forwarding train information to the on-board 5G wireless reconnection control system.
6. A wireless marshalling method of a train according to any one of claims 1 to 5, comprising the steps of:
s1, establishing the following workshop communication conditions: when the train with the same speed grade is on the same line, the speed of the front train is lower than that of the rear train, and the control center judges that the distance between the train and the train reaches the communication critical distance, a signal is given out to enable the front train and the rear train to communicate;
s2, establishing grouping conditions: the two trains can be grouped and run for more than or equal to 30 min; no packet loss occurs in the messages of 10 continuous communication periods; reaching a critical communication distance;
s3, calculating the minimum distance of the coordinated grouping operation, wherein the calculation formula is as follows:
Smin＝Tsum×Vback+ΔS+d
Tsum＝tc+tp+tb
wherein S isminMinimum distance, T, representing coordinated consist operationsumRepresenting a delay time, VbackRepresenting the running speed of the rear vehicle, Delta S representing the emergency braking distance difference of the two vehicles, d representing the safety margin, tcIndicating the time of interruption of communication, tpRepresents the algorithm execution time, tbIndicating a brake application time to the issuance of a brake command;
and S4, adjusting the target interval according to different working conditions of the two trains, so that the two trains reach the stable target interval.
7. The wireless grouping method according to claim 6, wherein the critical communication distance is a distance that ensures that no collision accident occurs in the emergency state of two trains.
8. A train wireless de-compilation method based on the wireless compilation method of any one of claims 6 to 7, comprising:
when the front train judges that the marshalling train runs on different lines after a while, the front train controls the running of the rear train according to the difference between the current running speed and the running distance between the two trains after the marshalling, so that the distance between the two trains is gradually increased;
the front vehicle sends an order to the rear vehicle, and the rear vehicle returns a response frame after receiving the order;
after the front vehicle receives the response frame, setting the initial operation state in the topology frame as the forbidden initial operation;
and starting an automatic driving mode after the rear vehicle receives the topological frame forbidden to operate initially, and finishing the decoding.
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| CN115056831A (en) * | 2022-05-31 | 2022-09-16 | 株洲中车时代电气股份有限公司 | Train virtual coupling fusion control system and control method thereof |
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