CN113320509A - Brake cylinder pressure control method, device and system and storage medium - Google Patents

Brake cylinder pressure control method, device and system and storage medium Download PDF

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Publication number
CN113320509A
CN113320509A CN202110608933.9A CN202110608933A CN113320509A CN 113320509 A CN113320509 A CN 113320509A CN 202110608933 A CN202110608933 A CN 202110608933A CN 113320509 A CN113320509 A CN 113320509A
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Prior art keywords
brake cylinder
control mode
pressure
control
train
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CN113320509B (en
Inventor
高珊
秦佳颖
温从溪
谢春杰
罗铁军
张兴旺
刘帅
许红梅
吉振山
尚礼明
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CRRC Tangshan Co Ltd
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CRRC Tangshan Co Ltd
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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
    • B60T17/228—Devices for monitoring or checking brake systems; Signal devices for railway vehicles
    • 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
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/683—Electrical control in fluid-pressure brake systems by electrically-controlled valves in pneumatic systems or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
    • B61H11/00—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types
    • B61H11/06—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types of hydrostatic, hydrodynamic, or aerodynamic brakes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Braking Systems And Boosters (AREA)

Abstract

The embodiment of the application provides a method, a device, a system and a storage medium for controlling the pressure of a brake cylinder, wherein the method comprises the following steps: the method comprises the steps of obtaining brake cylinder pressure corresponding to each shaft on a bogie of the train, bus communication state of the train and train running speed, determining a control mode of the brake cylinder, and performing pressure control on the brake cylinder through the control mode, wherein the control mode comprises an independent control mode and a combined control mode; and adjusting the control mode of the brake cylinder according to the change condition of the brake cylinder pressure in the preset time and the current control mode. According to the method and the device, different control modes can be selected to perform pressure control on the brake cylinder pressure according to different brake cylinder pressures, bus communication states of trains and train running speeds, the control modes can be adjusted according to pressure change conditions of the brake cylinders, quick response of a brake system to different running conditions is achieved, and train running safety is improved.

Description

Brake cylinder pressure control method, device and system and storage medium
Technical Field
The application relates to a rail transit technology, in particular to a brake cylinder pressure control method, a brake cylinder pressure control device, a brake cylinder pressure control system and a storage medium.
Background
The braking system of the subway vehicle has the functions of common braking, emergency braking, quick braking, holding braking and the like, wherein the common braking adopts an electric-air hybrid braking mode, the common braking is completed by electric braking and air braking together, the electric braking is preferentially used, and the air braking is supplemented when the electric braking is insufficient. In the case of low speed, emergency, electric brake failure, etc., it is necessary to brake the train entirely by air braking.
In a conventional method for controlling a brake cylinder of a subway vehicle, a target value is first calculated according to a brake control command, and a feedback value of a brake cylinder pressure sensor is compared with the target value to perform air charging, pressure maintaining, or air discharging control on the brake cylinder.
At present, a brake cylinder of a train is controlled by the same brake cylinder pressure control method under different operation conditions, and the control method is not adjusted according to the actual operation condition of the train, so that a brake system cannot respond in time under special conditions, and the response speed of the brake system and the train operation safety cannot be ensured.
Disclosure of Invention
The embodiment of the application provides a brake cylinder pressure control method, a brake cylinder pressure control device, a brake cylinder pressure control system and a storage medium, and aims to solve the problems that the existing brake system cannot respond in time under special conditions, and the response speed of the brake system and the running safety of a train cannot be guaranteed.
According to a first aspect of embodiments of the present application, there is provided a brake cylinder pressure control method, the method including:
acquiring brake cylinder pressure corresponding to each shaft on a bogie of the train, a bus communication state of the train and a train running speed;
determining a control mode of a brake cylinder according to the pressure of the brake cylinder, the bus communication state of the train and the running speed of the train, and performing pressure control on the brake cylinder through the control mode, wherein the control mode comprises an independent control mode and a combined control mode;
and adjusting the control mode of the brake cylinder according to the change condition of the brake cylinder pressure in the preset time and the current control mode.
According to a second aspect of an embodiment of the present application, there is provided a brake cylinder pressure control apparatus including:
the data acquisition module is used for acquiring brake cylinder pressure corresponding to each shaft on a bogie of the train, the bus communication state of the train and the train running speed;
the mode selection module is used for determining a control mode of the brake cylinder according to the pressure of the brake cylinder, the bus communication state of the train and the running speed of the train and controlling the pressure of the brake cylinder through the control mode, wherein the control mode comprises an independent control mode and a combined control mode;
and the mode adjusting module is used for adjusting the control mode of the brake cylinder according to the change condition of the brake cylinder pressure in the preset time and the current control mode.
According to a third aspect of embodiments of the present application, there is provided a brake cylinder pressure control system comprising a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the brake cylinder pressure control system is in operation, the machine readable instructions when executed by the processor performing a brake cylinder pressure control method.
According to a fourth aspect of the embodiments of the present application, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, performs the brake cylinder pressure control method described above.
The embodiment of the application provides a method, a device, a system and a storage medium for controlling the pressure of a brake cylinder, wherein the method comprises the following steps: acquiring brake cylinder pressure corresponding to each shaft on a bogie of the train, a bus communication state of the train and a train running speed; determining a control mode of a brake cylinder according to the pressure of the brake cylinder, the bus communication state of the train and the running speed of the train, and performing pressure control on the brake cylinder through the control mode, wherein the control mode comprises an independent control mode and a combined control mode; and adjusting the control mode of the brake cylinder according to the change condition of the brake cylinder pressure in the preset time and the current control mode. According to the method and the device, different control modes can be selected to perform pressure control on the brake cylinder pressure according to different brake cylinder pressures, bus communication states of trains and train running speeds, the control modes can be adjusted according to pressure change conditions of the brake cylinders, quick response of a brake system to different running conditions is achieved, and train running safety is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a front view of a truck;
FIG. 2 is a flowchart of a brake cylinder pressure control method according to an embodiment of the present disclosure;
FIG. 3 is a flowchart illustrating sub-steps of steps S12 and S13 according to an embodiment of the present disclosure;
fig. 4 is a flowchart illustrating sub-steps of step S125 according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an algorithm flow of a brake cylinder pressure control system provided in an embodiment of the present application;
FIG. 6 is a functional block diagram of a brake cylinder pressure control apparatus according to an embodiment of the present application;
fig. 7 is a schematic diagram of a brake cylinder pressure control system according to an embodiment of the present application.
Detailed Description
In the course of implementing the present application, the inventors found that, in a conventional brake cylinder control method for a subway vehicle, a target value is first calculated from a brake control command, and a feedback value of a brake cylinder pressure sensor is compared with the target value to perform air charging, pressure maintaining, or air discharging control on a brake cylinder.
Sudden faults and problems can occur in the running process of the subway vehicle, the brake system is used as the guarantee of the running safety of the train, and the pressure control of the brake cylinder of the brake system can respond in time when sudden conditions occur, so that the running safety of the train is guaranteed. However, the brake cylinder of the conventional brake system is controlled by the same brake cylinder pressure control method under different operating conditions, namely, the maximum service brake is directly applied when the CAN bus network communication fails, the connection valve is cut off to independently control when the sliding of the train is detected, the control method is not adjusted according to the actual operating condition of the train, and only a single control method is adopted to control, so that the brake system cannot respond in time under special conditions, and the response speed of the brake system and the operating safety of the train cannot be ensured.
In view of the above problems, embodiments of the present application provide a method, an apparatus, a system and a storage medium for controlling brake cylinder pressure, where the method includes: acquiring brake cylinder pressure corresponding to each shaft on a bogie of the train, a bus communication state of the train and a train running speed; determining a control mode of a brake cylinder according to the pressure of the brake cylinder, the bus communication state of the train and the running speed of the train, and performing pressure control on the brake cylinder through the control mode, wherein the control mode comprises an independent control mode and a combined control mode; and adjusting the control mode of the brake cylinder according to the change condition of the brake cylinder pressure in the preset time and the current control mode. According to the embodiment of the application, different control modes can be selected to control the brake cylinder pressure according to different brake cylinder pressures, bus communication states of trains and train running speeds, the control modes can be adjusted according to pressure change conditions of the brake cylinders, quick response of a brake system to different running conditions is achieved, and train running safety is improved.
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Firstly, it should be noted that the metro vehicle includes a plurality of carriages, each carriage includes two bogies, each bogie includes at least two shafts, each shaft is correspondingly provided with a brake cylinder, and each brake cylinder is connected through a connecting valve. When the connecting valve is connected, the brake cylinders on different shafts can be subjected to combined control, and the service life of the electromagnetic valve can be prolonged by the combined control mode; when the connecting valve is disconnected, the brake cylinders on different shafts can be independently controlled, and the control mode can reduce the response time of a brake system and enable the pressure of the brake cylinders to rapidly rise or fall.
Each shaft is also provided with two independent electromagnetic valves for charging air, exhausting air or maintaining pressure of the brake cylinder of the shaft, specifically, the two electromagnetic valves charge air to the brake cylinder when the two electromagnetic valves are all powered off, the two electromagnetic valves exhaust air to the brake cylinder when the two electromagnetic valves are powered on, and one electromagnetic valve is powered off and one electromagnetic valve is powered on and maintains pressure. As shown in fig. 1, fig. 1 is a front view of a bogie.
Referring to fig. 2, fig. 2 is a flowchart of a brake cylinder pressure control method according to an embodiment of the present application.
In this embodiment, the method includes:
and step S11, obtaining brake cylinder pressure corresponding to each axle on a bogie of the train, bus communication state of the train and train running speed.
And step S12, determining a control mode of the brake cylinder according to the brake cylinder pressure, the bus communication state of the train and the train running speed, and performing pressure control on the brake cylinder through the control mode.
Wherein the control modes include an independent control mode and a joint control mode.
And step S13, adjusting the control mode of the brake cylinder according to the change condition of the brake cylinder pressure in the preset time and the current control mode.
In the above steps, the present embodiment comprehensively considers different states of the bus communication state, the train operation speed, and the brake cylinder pressure, selects different control modes to perform pressure control on the brake cylinder under different operation conditions of the train, and can adjust the brake cylinder pressure control mode according to the real-time operation condition, thereby realizing the quick response of the brake cylinder pressure under various operation conditions, and improving the response speed of the brake system and the safety of the train operation.
Optionally, referring to fig. 3, fig. 3 is a flowchart illustrating sub-steps of step S12 and step S13 according to an embodiment of the present disclosure. In the present embodiment, step S12 includes:
step S121, judging whether at least one shaft is in an anti-skid state and the pressure of a brake cylinder is normal;
and step S122, if yes, controlling the brake cylinder through the independent control mode.
And step S123, if not, judging whether the bus communication state of the train is abnormal or not.
Step S124, if the bus communication state is abnormal, controlling the brake cylinder through a combined control mode;
and step S125, if the bus communication state is not abnormal, determining a control mode for controlling the pressure of the brake cylinder according to the train running speed.
In the step, firstly, judging whether at least one of a plurality of axles of the bogie is in an anti-skid state, and the pressure of a brake cylinder of the axle is a normal value, if at least one axle meets the state, controlling the connection valve to be disconnected, and performing pressure control on the brake cylinder through an independent control mode; if at least one shaft does not meet the conditions, judging whether the CAN bus communication state of the train is abnormal or not, if so, controlling the connection valve to be closed, and controlling the pressure of the brake cylinder through the combined control state.
Optionally, referring to fig. 4, fig. 4 is a flowchart illustrating a sub-step of step S125 according to an embodiment of the present disclosure, in this embodiment, step S125 specifically includes:
and step S1251, judging whether the train speed exceeds a preset speed limit value.
And S1252, if the speed exceeds the preset speed limit value, controlling the brake cylinder through an independent control mode.
And S1253, if the preset speed limit value is not exceeded, controlling the brake cylinder through a combined control mode.
In the above steps, if the communication state of the CAN bus is not abnormal, whether the running speed of the train exceeds a preset speed limit value or not is judged, if the running speed of the train exceeds the preset speed limit value, the control connection valve is disconnected, the pressure control is performed on the brake cylinder through an independent control mode, if the running speed of the train does not exceed the preset speed limit value, the control connection valve is closed, and the pressure control is performed on the brake cylinder through a combined control state.
Optionally, referring to fig. 3 again, in the present embodiment, step S13 includes:
step S131, determining whether the amount of change in the brake cylinder pressure of each axis within the first preset time is within a preset range.
And step S132, if the control mode is within the preset range, adjusting the control mode of the brake cylinder from the combined control mode to the independent control mode, or adjusting the independent control mode to the combined control mode.
In the above step, the first preset time is t1Second, preset rangeEnclose as P1kPa, namely, the brake cylinder pressure and t of the present shaft at the present time are determined1Whether the difference of the brake cylinder pressure before the second is within +/-P1In the kPa range, if the pressure is in the kPa range, the pressure of the brake cylinder cannot be normally increased or decreased due to a working condition that may cause a failure of the electromagnetic valve, and at this time, the control mode of the brake cylinder may be changed to change the independent control mode to the combined control mode, or to change the combined control mode to the independent control mode. If not, the control mode remains unchanged.
Optionally, in an implementation manner of this embodiment, t1Can be in the range of [1.2, 1.8 ]]The unit is second, and the value range of P1 can be [4.5, 5.5%]In kPa.
Optionally, referring to fig. 3 again, in this embodiment, step S13 further includes:
and step S133, if the control mode is not in the preset range, judging whether the control mode of the brake cylinder is the combined control mode.
And S134, if the combined control mode is adopted, judging whether the brake cylinder pressure difference value of each shaft in the second preset time is larger than the first preset value.
And step S135, if the brake cylinder control mode is larger than the first preset value, adjusting the control mode of the brake cylinder from the combined control mode to the independent control mode.
And S136, if the control mode is not the combined control mode, judging whether the brake cylinder pressure difference value of each axis in the third preset time is smaller than a second preset value or not.
And S137, if the value is smaller than the second preset value, adjusting the control mode of the brake cylinder from the independent control mode to the combined control mode.
In the above step, when the difference between the brake cylinder pressure on the present axis and the brake cylinder pressure at t1 seconds ago is not within the range of ± P1kPa at the present time, it is determined whether or not the current control mode of the brake cylinder is the joint control mode, and in the joint control mode, every t seconds2Judging whether the absolute value of the difference value of the brake cylinder pressure of each shaft of the primary bogie is more than P or not (namely within the second preset time)2kPa (i.e. first predetermined value), if greater than P2kPa, indicating that the brake cylinder pressure of a certain axle of the current bogie may be in failure, and the combined control mode needs to be adjusted to be the independent control mode if the pressure is not greater than P2kPa, the control mode remains unchanged.
If not in the joint control mode, every t3Second (namely third preset time) judging whether the absolute value of the difference value of the brake cylinder pressure of each shaft of the primary bogie is less than P3kPa (i.e. second predetermined value), if less than P3kPa represents that the brake cylinder pressure of each current shaft is approximate, the independent control mode can be adjusted to the combined control mode, and if the pressure is not less than P3kPa, the control mode remains unchanged.
Alternatively, in the present embodiment, t2Can be in the range of [18, 22 ]]In seconds; t is t3Has a value range of [2, 4 ]]In seconds; p2Has a value range of [2.2, 2.8 ]]In units of kPa, P3Has a value range of [4.5, 5.5 ]]In kPa.
Optionally, in this embodiment, the brake cylinder pressure control method further includes:
and if the control mode of the brake cylinders is an independent control mode, disconnecting the connecting valves, and independently controlling the brake cylinders of the axles based on the brake cylinder pressures of the axles of the bogie, which are respectively collected.
And if the control mode of the brake cylinders is the combined control mode, closing the connecting valves, and performing combined control on the brake cylinders of the shafts based on the brake cylinder pressures acquired by the shafts.
Specifically, in the embodiment, in the independent control mode, the connection valves between the brake cylinders are disconnected, pressure values of the respective brake cylinders are collected for each axis, corresponding control commands are generated based on the pressure values of the brake cylinders corresponding to the respective axes, and the brake cylinders corresponding to the respective axes are controlled based on the control commands of the respective axes.
In the combined control mode, the difference value between the brake cylinder pressure of each shaft and the preset pressure value of the shaft needs to be considered, and if the difference value is larger than or equal to a third preset value (P)4kPa) of the pressure of the molten steel,and obtaining control instructions of the brake cylinders based on the brake cylinder pressure respectively collected by each shaft, obtaining target control instructions according to the control instructions of the brake cylinders, and performing pressure control on the brake cylinders through the target control instructions. In this case, there is a possibility that each axle of the bogie outputs instructions such as a double-axle air charging, a single-axle air charging, a double-axle pressure maintaining, a single-axle air discharging, or a double-axle air discharging instruction. If the instruction output of one shaft is a double-shaft air charging instruction or a double-shaft air discharging instruction, the final target control instruction output is a double-shaft air charging instruction or a double-shaft air discharging instruction; if one shaft outputs a single-shaft air charging command or a single-shaft air discharging command and the other shaft outputs a double-shaft pressure maintaining command, the final target control command outputs a single-shaft air charging command or a single-shaft air discharging command; if one shaft outputs a single-shaft air charging command or a single-shaft air discharging command and the other shaft also outputs a single-shaft air charging command or a single-shaft air discharging command, the shaft with low brake cylinder pressure is selected to charge air, or the shaft with high brake cylinder pressure is selected to discharge air.
If the difference between the brake cylinder pressure of each axis and the preset pressure value of the axis is larger than or equal to a third preset value (P)4kPa), obtaining a target control command for the brake cylinder based on an average of a plurality of brake cylinder pressures, and controlling the brake cylinder by the target control command.
And finally, judging whether the current working condition of the train is an emergency braking state, if so, directly outputting a wind filling instruction, otherwise, outputting an electromagnetic valve control instruction, wherein the electromagnetic valve control instruction is obtained by calculation according to an independent control mode or a combined control mode.
Optionally, in this embodiment, a simulation predictor is disposed on the train, and the brake cylinder pressure control method further includes:
respectively calculating preset pressure values of the shafts according to the corresponding brake cylinder pressure acquired by each shaft and the brake instructions received by each shaft; calculating a control instruction of the brake cylinder according to the preset pressure value and the stable response value of the brake cylinder, wherein the stable response value of the brake cylinder is obtained through the corresponding simulation predictor; and generating an air charging command or an air exhausting command of each brake cylinder according to the control mode of the brake cylinder and the control command.
In the above steps, the brake cylinder pressure control system can calculate a control instruction according to the stable response value of the brake cylinder pressure and a preset pressure value, and control the electromagnetic valve. As shown in fig. 5, fig. 5 is a schematic algorithm flow diagram of a brake cylinder pressure control system according to an embodiment of the present application. Specifically, the difference value between the stable response value and the preset pressure value is input to a brake cylinder pressure control system, a control instruction is calculated through a PID algorithm, a control instruction value u with a value range of [ -m, m ] is output, and different PWM control instructions are output respectively in different modes according to the control instruction value u.
Further, in the present embodiment, it is first necessary to calculate the preset pressure values of the respective axes. When the pressure of the brake cylinder is small, the air pressure difference between two sides of the electromagnetic valve is large, so that the brake cylinder is prone to pressure fluctuation, and therefore when the pressure of the brake cylinder is small, the difference between the preset pressure value and the collected pressure value of the brake cylinder needs to be limited, so that the fluctuation is reduced.
Suppose the brake command transmitted by the gateway to each axle through the CAN bus network is y1The brake cylinder pressure collected by each axis is y2If the preset pressure value to be calculated is y, the preset pressure value y can be calculated according to the following formula:
Figure BDA0003095208660000091
wherein P is5＝min(y13.5), i.e. P5Is y1And minimum value of 3.5, y1、y2And P5The units of (A) are bar.
A stable response value of the brake cylinder pressure then needs to be calculated. In this embodiment, the response of the brake cylinder pressure to the brake command has a large delay due to hysteresis of the devices such as the pipeline system and the response of the electromagnetic valve, so that the currently acquired brake cylinder pressure is not a stable response to the current brake command.
When the brake cylinder pressure enters a dead zone range (namely an allowable error range between the actual brake cylinder pressure and a target value), the electromagnetic valve needs to be controlled for pressure maintaining, the final stable brake cylinder pressure may exceed the dead zone range, and at the moment, the electromagnetic valve needs to be controlled for air exhaust, so that the electromagnetic valve needs to be adjusted repeatedly, and the service life of the electromagnetic valve is shortened. To solve this problem, a simulation predictor may be provided in the control system for outputting a stable response value of the brake cylinder pressure.
Specifically, when the simulation predictor is set, modeling can be performed on all brake pipeline systems (from an air compressor to a brake cylinder) of the train through simulation software, and the model is calibrated according to an actual brake pipeline system test, so that the error between the simulation model and the actual brake pipeline system of the train is reduced; and loading the model into a simulation predictor, connecting the control parameters of the actual brake pipeline system to the model by utilizing a simulation predictor interface, and using the control parameters as the control parameters of the model to enable the control parameters of the model to be consistent with the control parameters of the actual brake pipeline system, wherein the control parameters comprise the starting and stopping of an air compressor, the opening and closing of an electro-pneumatic valve and the like. And then correcting the pressure of a corresponding module in the model by adopting the pressure of a key part in the actual brake pipeline system through a simulation predictor interface, wherein the key part comprises a main air cylinder, a main air pipe and the like, so that the simulation predictor model and the actual brake pipeline system are kept synchronous, and the error of the simulation predictor model and the actual brake pipeline system is reduced.
Optionally, in this embodiment, the simulation predictor may be centrally disposed in the head train of the train, and the signal of the simulation predictor is transmitted to the brake controller of each bogie through an ethernet network or a CAN network; the simulation predictors CAN be respectively arranged in each carriage of the train, the simulation predictors arranged in each carriage only simulate the brake gas circuit of the train, and the simulation predictors are in data transmission through an Ethernet or a CAN network.
When the stable response value is calculated through the simulation predictor, because the simulation speed of the simulation predictor is higher than the running speed of the actual brake cylinder pressure control system, model outputs of dozens of control cycles can be calculated in one control cycle, and the output predicted value of the actual brake cylinder pressure control system in the future dozens of control cycles can be obtained. The method comprises the steps of obtaining a predicted brake cylinder pressure value of a current period through a simulation model, calculating a predicted brake cylinder pressure value of tens of periods in the future after pressure maintaining is carried out at the next moment, calculating a predicted stable response value of the brake cylinder pressure in the simulation model, comparing the predicted brake cylinder pressure value and an actual brake cylinder pressure value at the current moment through an interface of a simulation predictor, obtaining an error between the simulation model and an actual system, correcting the predicted stable response value of the brake cylinder pressure obtained by the simulation model according to the error, and finally obtaining a stable response value of the brake cylinder pressure in the actual system.
And after the stable response value and the preset pressure value are obtained, inputting the difference value of the stable response value and the preset pressure value into a PID control algorithm for operation, outputting a control instruction value u, and respectively outputting different PWM control instructions according to u and the current control mode.
Optionally, in this embodiment, when the control mode is the independent control mode:
if u belongs to the range of-m, 0), the PWM output module outputs an air exhaust instruction to control the electromagnetic valve to exhaust air, and the duty ratio is-u/m;
if u belongs to [0, m ], the PWM output module outputs an air charging command to control the electromagnetic valve to charge air, and the duty ratio is u/m;
and if the error between the stable response value of the brake cylinder pressure and the preset pressure value is within the allowable error range, the PWM output module directly outputs a pressure maintaining instruction no matter which range u is located.
When the control mode is the joint control mode:
if u belongs to the range of-m, -m/2), double-shaft air exhaust is carried out, a PWM output module outputs a double-shaft air exhaust instruction, an electromagnetic valve of each shaft of the bogie is controlled to exhaust air, and the duty ratio is (-2 u-m)/m;
if u belongs to the range of-m/2, 0), single-shaft air exhaust is carried out, the PWM output module outputs a single-shaft air exhaust instruction, an electromagnetic valve of any shaft of the bogie is controlled to carry out air exhaust, and the duty ratio is (-2 u)/m;
if u belongs to [0, m/2)), single-shaft air charging is carried out, the PWM output module outputs a single-shaft air charging command, an electromagnetic valve of any shaft of the bogie is controlled to charge air, and the duty ratio is 2 u/m;
if u belongs to [ m/2, m ], double-shaft air charging is carried out, a PWM output module outputs a double-shaft air charging command, an electromagnetic valve of each shaft of the bogie is controlled to carry out air charging, and the duty ratio is (2 u-m)/m.
And if the error between the stable response value of the brake cylinder pressure and the preset pressure value is within the allowable error range, the PWM output module directly outputs a pressure maintaining instruction no matter which range u is located.
In summary, the present application provides a method for controlling brake cylinder pressure, where the method includes: acquiring brake cylinder pressure corresponding to each shaft on a bogie of the train, a bus communication state of the train and a train running speed; determining a control mode of a brake cylinder according to the pressure of the brake cylinder, the bus communication state of the train and the running speed of the train, and controlling the brake cylinder through the control mode, wherein the control mode comprises an independent control mode and a combined control mode; and adjusting the control mode of the brake cylinder according to the change condition of the brake cylinder pressure in the preset time and the current control mode. According to the embodiment of the application, different control modes can be selected to control the brake cylinder pressure according to different running conditions such as the brake cylinder pressure, the bus communication state of a train and the train running speed, the control modes can be adjusted according to the pressure change condition of the brake cylinder, the quick response of a brake system to different running conditions is realized, and the train running safety is improved.
In addition, after the brake cylinder pressure of each axle in one bogie is respectively controlled by air charging and discharging, the average value of the brake cylinder pressure of the two axles can be controlled, and the control precision of the brake cylinder pressure is ensured.
Referring to fig. 6, fig. 6 is a functional block diagram of a brake cylinder pressure control device 110 according to an embodiment of the present application. In the present embodiment, the brake cylinder pressure control device 110 includes:
the data acquisition module 1101 is configured to acquire brake cylinder pressures corresponding to axles on a bogie of a train, a bus communication state of the train, and a train operation speed.
The mode selection module 1102 is configured to determine a control mode of a brake cylinder according to the brake cylinder pressure, a bus communication state of a train, and a train running speed, and perform pressure control on the brake cylinder through the control mode, where the control mode includes an independent control mode and a combined control mode.
And a mode adjusting module 1103, configured to adjust a control mode of the brake cylinder according to a change condition of the brake cylinder pressure within a preset time and a current control mode.
The embodiment of the application also provides a brake cylinder pressure control system 10. Referring to fig. 7, fig. 7 is a schematic view of a brake cylinder pressure control system 10 according to an embodiment of the present application. The brake cylinder pressure control system comprises a processor 11, a memory 12 and a bus 13, wherein the memory 12 stores machine-readable instructions executable by the processor 11, the processor 11 and the memory 12 communicate via the bus 13 when the brake cylinder pressure control system 10 is operated, and the machine-readable instructions are executed by the processor 11 to perform the brake cylinder pressure control method described above.
The embodiment of the application also provides a storage medium, wherein a computer program is stored on the storage medium, and the computer program is executed by a processor to execute the brake cylinder pressure control method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (11)

1. A method of brake cylinder pressure control, the method comprising:
acquiring brake cylinder pressure corresponding to each shaft on a bogie of the train, a bus communication state of the train and a train running speed;
determining a control mode of a brake cylinder according to the pressure of the brake cylinder, the bus communication state of the train and the running speed of the train, and performing pressure control on the brake cylinder through the control mode, wherein the control mode comprises an independent control mode and a combined control mode;
and adjusting the control mode of the brake cylinder according to the change condition of the brake cylinder pressure in the preset time and the current control mode.
2. The method of claim 1, wherein determining a control mode of a brake cylinder according to the brake cylinder pressure, a bus communication state of a train, and a train running speed, and performing pressure control on the brake cylinder through the control mode comprises:
judging whether at least one shaft is in an anti-skid state and the pressure of a brake cylinder is normal;
if yes, performing pressure control on the brake cylinder through an independent control mode;
if not, judging whether the bus communication state of the train is abnormal or not;
if the bus communication state is abnormal, performing pressure control on the brake cylinder through a combined control mode;
and if the bus communication state is not abnormal, determining a control mode for controlling the pressure of the brake cylinder according to the running speed of the train.
3. The method of claim 2, wherein determining a control mode for pressure control of the brake cylinder from the train operating speed comprises:
judging whether the train speed exceeds a preset speed limit value or not;
if the speed exceeds the preset speed limit value, performing pressure control on the brake cylinder through an independent control mode;
and if the preset speed limit value is not exceeded, performing pressure control on the brake cylinder through a combined control mode.
4. The method according to claim 1, wherein adjusting the control mode of the brake cylinder according to the change of the brake cylinder pressure within a preset time comprises:
judging whether the variable quantity of the brake cylinder pressure of each shaft in a first preset time is in a preset range or not;
and if the control mode is within the preset range, adjusting the control mode of the brake cylinder from a combined control mode to an independent control mode, or adjusting the independent control mode to the combined control mode.
5. The method of claim 4, wherein adjusting the brake cylinder control pattern based on changes in brake cylinder pressure over a predetermined time further comprises:
if the brake cylinder is not in the preset range, judging whether the control mode of the brake cylinder is a combined control mode;
if the brake cylinder pressure difference value is greater than the first preset value, judging whether the brake cylinder pressure difference value of each shaft in second preset time is greater than the first preset value; if the brake cylinder control mode is larger than a first preset value, the control mode of the brake cylinder is adjusted from a combined control mode to an independent control mode;
if the brake cylinder pressure difference value is not in the combined control mode, judging whether the brake cylinder pressure difference value of each shaft in third preset time is smaller than a second preset value or not; and if the control mode is smaller than a second preset value, adjusting the control mode of the brake cylinder from the independent control mode to the combined control mode.
6. The method according to any one of claims 1-5, wherein a connecting valve is provided between brake cylinders of respective axles of the bogie, the method further comprising:
if the control mode of the brake cylinders is an independent control mode, the connecting valves are disconnected, and the brake cylinders of the axles are independently controlled on the basis of the brake cylinder pressures of the axles, which are respectively collected by the bogie;
and if the control mode of the brake cylinders is the combined control mode, closing the connecting valves, and performing combined control on the brake cylinders of the shafts based on the brake cylinder pressures acquired by the shafts.
7. The method of claim 6, wherein jointly controlling brake cylinders of each axis based on a plurality of brake cylinder pressures collected for each axis comprises:
when the difference value between the brake cylinder pressure of each shaft of the bogie and the preset pressure value corresponding to each shaft is greater than or equal to a third preset value, obtaining a control instruction of each brake cylinder based on the brake cylinder pressure respectively collected by each shaft, obtaining a target control instruction according to the control instruction of each brake cylinder, and performing pressure control on the brake cylinders through the target control instruction;
when the difference value between the brake cylinder pressure of each shaft of the bogie and the preset pressure value corresponding to each shaft is smaller than a third preset value, obtaining a target control instruction of the brake cylinder based on the average value of the brake cylinder pressures, and controlling the brake cylinder through the target control instruction.
8. The method of claim 6, wherein a simulation predictor is disposed on the train, the method further comprising:
respectively calculating preset pressure values of the shafts according to the brake cylinder pressure acquired by each shaft and the brake instructions received by each shaft;
calculating a control instruction of the brake cylinder according to the preset pressure value and the stable response value of the brake cylinder, wherein the stable response value of the brake cylinder is obtained through the corresponding simulation predictor;
and generating an air charging command or an air exhausting command of each brake cylinder according to the control mode of the brake cylinder and the control command.
9. A brake cylinder pressure control apparatus, characterized in that the apparatus comprises:
the data acquisition module is used for acquiring brake cylinder pressure corresponding to each shaft on a bogie of the train, the bus communication state of the train and the train running speed;
the mode selection module is used for determining a control mode of the brake cylinder according to the pressure of the brake cylinder, the bus communication state of the train and the running speed of the train and controlling the brake cylinder through the control mode, wherein the control mode comprises an independent control mode and a combined control mode;
and the mode adjusting module is used for adjusting the control mode of the brake cylinder according to the change condition of the brake cylinder pressure in the preset time and the current control mode.
10. A brake cylinder pressure control system comprising a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the brake cylinder pressure control system is operating, the machine readable instructions when executed by the processor performing the method of any of claims 1-8.
11. A storage medium, having stored thereon a computer program which, when executed by a processor, performs the method according to any one of claims 1-8.
CN202110608933.9A 2021-06-01 2021-06-01 Brake cylinder pressure control method, device and system and storage medium Active CN113320509B (en)

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