CN113442970A - Train jump control method and device and train - Google Patents
Train jump control method and device and train Download PDFInfo
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- CN113442970A CN113442970A CN202010231765.1A CN202010231765A CN113442970A CN 113442970 A CN113442970 A CN 113442970A CN 202010231765 A CN202010231765 A CN 202010231765A CN 113442970 A CN113442970 A CN 113442970A
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Abstract
The application discloses a train jump control method, a train jump control device and a train, wherein the method comprises the following steps: when the train needs to be subjected to jumping alignment, determining the jumping direction of the train by combining the target parking position and the current parking position of the train, controlling a traction system of the train to pull the train in the jumping direction by a preset first traction torque, so that the train is slowly started, determining whether the distance between the current position and the target parking position obtained in the period is larger than a preset parking distance threshold value or not in the process of starting to pull until the jumping vehicle control time reaches the maximum jumping vehicle control time, and directly controlling a braking system of the train to brake the train by the preset braking torque if the distance between the current position and the target parking position obtained in the period is smaller than or equal to the preset parking distance threshold value, so that the train is decelerated until the train is stably parked. Therefore, the accurate control of the jumping target of the train is realized, the accurate parking is realized, and the control accuracy is improved.
Description
Technical Field
The application relates to the technical field of urban rail transit, in particular to a train jump control method and device and a train.
Background
With the development of urban rail transit, the method is very important for the operation safety reliability and the service quality of rail transit related equipment such as subways, urban rails, cloud rails and the like.
At present, the benchmarking stop is needed when the train is stopped at a station, and the train sometimes stops at a specified position (including the benchmarking and the delinquent) in the benchmarking process due to various reasons. In order to stop a train at a predetermined position, a jump control system is generally used to perform a jump control of the train.
The jump control method generally adopted in the related art is generally: after the train stops, the jumping direction and the jumping distance are determined according to the current stopping position and the target stopping position of the train, the rotating direction of a bogie axle and the number of rotated gears are obtained simultaneously, and jumping target alignment is achieved by controlling the rotating direction of the bogie axle and the number of the gears required to rotate. However, when the train jumps and aligns, the distance that the train has passed when aligning is determined according to the number of the gears that have rotated on the axle of the frame, and the accuracy of the number of the gears that have rotated is not high enough and has a certain delay, and the distance obtained by calculation lags behind the actual traveling distance, so that the situation that the train still does not stay in the window of the train after the train jumps and aligns occurs, that is, the train jumps cannot be accurately controlled, and the purpose of accurate parking cannot be achieved.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the above mentioned technical problems.
To this end, a first object of the present application is to propose a train jump control method. The method can realize the accurate control of the jumping of the train on the target, realize the accurate stop and improve the accuracy of the control.
A second object of the present application is to provide a train jump control device.
A third object of the present application is to propose a train.
A fourth object of the present application is to propose a computer readable storage medium.
In a first aspect, an embodiment of the present application provides a train jump control method, including: determining the jumping direction of the train according to the target parking position and the current parking position of the train; controlling a traction system of the train to pull the train in the skip direction at a preset first traction torque; periodically acquiring the current position of the train from the beginning of traction to the process that the time for controlling the train by jumping reaches the maximum time for controlling the train by jumping; and if the distance between the current position obtained in the period and the target parking position is determined to be less than or equal to a preset parking distance threshold value, controlling a braking system of the train to brake the train with a preset braking torque so as to decelerate the train until the train is stably parked.
In a second aspect, an embodiment of the present application provides a train jump control device, where the device includes: the first determining module is used for determining the jumping direction of the train according to the target parking position and the current parking position of the train; the first control module is used for controlling a traction system of the train to traction the train in the jumping direction at a preset first traction torque; the first acquisition module is used for periodically acquiring the current position of the train from the beginning of traction to the process that the time for controlling the train in jumping reaches the maximum time for controlling the train in jumping; and the second control module is used for controlling a braking system of the train to brake the train with a preset braking torque when the distance between the current position obtained in the period and the target parking position is determined to be less than or equal to a preset parking distance threshold value, so that the train is decelerated until the train is stably parked.
In a third aspect, an embodiment of the present application provides a train, including the train jump control device according to the second aspect of the present application.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the train jump control method according to the first aspect of the present application.
According to the technical scheme, when jumping is conducted, the jumping direction of the train is determined by combining the target parking position and the current parking position of the train, the traction system of the train is controlled to pull the train in the jumping direction through the preset first traction torque, so that the train is started slowly, in the process from the time of starting traction to the time of controlling jumping to the time of controlling the train to reach the maximum time of controlling jumping, whether the distance between the current position and the target parking position obtained in the period is larger than a preset parking distance threshold value or not is determined, and if the distance between the current position and the target parking position obtained in the period is smaller than or equal to the preset parking distance threshold value, the braking system of the train is directly controlled to brake the train through the preset braking torque, so that the train is decelerated until the train is stably parked. Therefore, when the train is subjected to jumping contrast control, the train is slowly started through a traction system of the train, the current position of the train is periodically acquired, and when the distance between the current position and the target parking position acquired in the period is determined to be smaller than a preset parking distance threshold value, the train is slowly and stably stopped through a braking system of the train, so that the train is slowly close to the target parking position of the train, the accurate control of the jumping of the train on the target is realized, the accurate parking is realized, and the control accuracy is improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a train jump control method according to one embodiment of the present application;
fig. 2 is a flow chart of a train jump control method according to another embodiment of the present application;
FIG. 3 is a flow chart of a train jump control method according to a particular embodiment of the present application;
FIG. 4 is an exemplary diagram of a jump control state of a train;
fig. 5 is a schematic structural diagram of a train jump control device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
Train jump control methods, apparatuses, and trains according to embodiments of the present application are described below with reference to the drawings.
Fig. 1 is a flow chart of a train jump control method according to one embodiment of the present application. The train jump control method according to the present embodiment is executed mainly by a train jump control device that is disposed in a train and controls a jump target of the train.
As shown in fig. 1, the train jump control method may include:
Specifically, when the train needs to be controlled to jump according to the current parking position and the target parking position of the train, the jumping direction of the train can be determined by combining the target parking position and the current parking position of the train.
Wherein the target parking position is a standard parking position set for the train in advance.
And 102, controlling a traction system of the train to pull the train in the jumping direction at a preset first traction torque.
In this embodiment, to enable slow start of the train, the traction system of the train may be controlled to pull the train in the skip direction with a preset first traction torque.
The preset first traction torque in the present embodiment is configured in advance based on the performance of the train.
Specifically, a first traction torque required when a train is started may be acquired, and then, the first traction torque and a skip direction may be transmitted to a train Control and Management system TCMS (train Control and Management system) of the train, and correspondingly, the TCMS may transmit the first traction torque and the skip direction to a traction system of the train, so that the traction system may pull the train in the skip direction with a preset first traction torque.
And 103, periodically acquiring the current position of the train from the beginning of traction to the process that the time for controlling the train in jumping reaches the maximum time for controlling the train in jumping.
In practical application, the maximum jumping car control time can be set according to actual requirements, for example, the maximum jumping car control time can be 15 seconds, that is, the maximum jumping car control time is 15 seconds, and after the maximum jumping car control time reaches 15 seconds, the jumping benchmarking process of the train is finished.
And 104, if the distance between the current position and the target parking position obtained in the period is determined to be less than or equal to the preset parking distance threshold, controlling a braking system of the train to brake the train with the preset braking torque so as to decelerate the train until the train is stably parked.
In practical application, the size of the stopping distance threshold may be set in combination with practical application requirements, for example, the stopping distance threshold may be set to be 30 centimeters, if the distance between the current position of the train and the target stopping position is less than or equal to 30 centimeters, it is determined that the train has stopped accurately, at this time, jumping control is not required, and if the distance between the current position and the target stopping position is greater than 30 centimeters, it is determined that the train has not stopped accurately.
The train jump control method of the embodiment determines a jump direction of a train by combining a target stop position and a current stop position of the train when the train needs to be subjected to jump alignment, controls a traction system of the train to pull the train in the jump direction by a preset first traction torque, so that the train is slowly started, determines whether a distance between the current position and the target stop position obtained in the period is larger than a preset stop distance threshold value or not in the process from the time of starting to pull to the time of controlling the jump to the time of controlling the maximum jump, and directly controls a brake system of the train to brake the train by the preset brake torque if the distance between the current position and the target stop position obtained in the period is smaller than or equal to the preset stop distance threshold value, so that the train is decelerated and stably stopped. Therefore, when the train is subjected to jumping contrast control, the train is slowly started through a traction system of the train, the current position of the train is periodically acquired, and when the distance between the current position and the target parking position acquired in the period is determined to be smaller than a preset parking distance threshold value, the train is slowly and stably stopped through a braking system of the train, so that the train is slowly close to the target parking position of the train, the accurate control of the jumping of the train on the target is realized, the accurate parking is realized, and the control accuracy is improved.
In practical application, sometimes the situation that the distance between the current position and the target parking position obtained in the present period is still greater than the parking distance threshold value, that is, based on the current position obtained in the present period, it is determined that the current position of the train is still not within the range of the position where the train is accurately parked, at this time, in order to combine the current state of the train to achieve accurate traction on the train, in an embodiment of the present application, a corresponding second traction torque may be determined according to the current speed, the current position and the target parking position of the train obtained in the present period, and a traction system of the train is controlled to pull the train in the jumping direction of the train according to the second traction torque, thereby achieving continuous adjustment of the traction torque in the jumping benchmarking process according to the state information of the train in the present period, the accurate traction train constantly approaches the target parking position of the train.
The train jump control method of the present embodiment is further described below with reference to fig. 2.
As shown in fig. 2, the method may include:
And 202, controlling a traction system of the train to pull the train in the jumping direction at a preset first traction torque.
And step 203, periodically acquiring the current position of the train and the current speed of the train in the process from the start of traction to the time when the jumping train control time reaches the maximum jumping train control time.
That is, the present embodiment acquires the current speed of the train in synchronization with the periodic acquisition of the current position of the train.
Specifically, after the traction system of the train is controlled to draw the train in the jump direction by the preset first traction torque, the current speed and the current position of the train can be periodically obtained based on a speed and distance measuring module on the train.
In one embodiment of the present application, in order to accurately obtain the current speed of the train, a speed sensor may be provided on a wheel of the train. Then, when the current speed of the train is required, the current speed of the train can be determined according to the detection data output by the speed sensor of the train.
And step 205, controlling a braking system of the train to brake the train at a preset braking torque so as to decelerate the train until the train is stable.
And step 206, determining a corresponding second traction torque according to the current speed, the current position and the target parking position.
And step 207, controlling a traction system of the train to pull the train in the jump direction of the train at a second traction torque.
Specifically, after step 207 is executed, if it is detected that the starting time corresponding to the next cycle is reached, step 203 may be executed, so that the distance between the current position and the target parking position obtained in the current cycle is periodically determined to be less than or equal to the preset parking distance threshold, and the train is accurately controlled according to the determination result.
In this embodiment, in the process from the start of traction to the time when the time for controlling the skip car reaches the maximum time for controlling the skip car, when it is determined that the distance between the target parking positions at the current position obtained in the present period is greater than the parking distance threshold, the corresponding second traction torque is determined by combining the current vehicle speed, the current position and the target parking position obtained in the present period, so as to accurately traction the train. Therefore, the traction torque of the train is continuously adjusted by combining the current position and the speed of the train which are continuously changed in the process of jumping and benchmarking the train, so that the train can slowly run and is continuously close to the target parking position of the train.
Based on the above embodiments, in the process from the start of traction to the time when the time for controlling the skip car reaches the maximum skip car controlling time, sometimes the current position of the train is not within the range of the position for accurate parking, and when it is detected that the time for controlling the skip car in the skip control reaches the preset maximum skip car controlling time, in order to enable the train to stop again, in an embodiment of the present application, when the time for controlling the skip car reaches the preset maximum skip car controlling time, if the distance between the current position and the target parking position obtained in the present period is still greater than the parking distance threshold, the braking system of the train is controlled to brake the train with the preset braking torque, so that the train is decelerated until the train is stably stopped.
The preset braking torque in the present embodiment is configured in advance based on the performance of the train.
In one embodiment of the present application, in order to enable the vehicle to stop quickly, when the skip car control time reaches the preset maximum skip car control time, if the distance between the current position and the target parking position obtained in the present period is still greater than the parking distance threshold, the traction torque in the traction system of the train is adjusted to zero, and the brake system of the train is controlled to brake the train with the preset brake torque, so that the train is decelerated until the train stops stably.
Specifically, the tractive torque in the traction system of the train may be controlled to zero by zeroing the tractive stage of the traction system.
In one embodiment of the application, in order to enable the train to accurately stop, after a braking system of the train is controlled to brake the train with a preset braking torque so as to decelerate the train until the train stops stably, whether the train meets a preset jump benchmarking end condition can be further judged, and if the train does not meet the preset jump benchmarking end condition, the jump benchmarking process is repeatedly executed until the train meets the jump benchmarking end condition.
Wherein, the jumping benchmarking process comprises the following steps: determining the jumping direction of the train according to the target parking position and the current parking position of the train; controlling a traction system of the train to pull the train in a jumping direction with a preset first traction torque; and periodically acquiring the current position of the train from the traction start to the process that the jumping train control time reaches the maximum jumping train control time. And if the distance between the current position and the target parking position obtained in the period is determined to be less than or equal to the preset parking distance threshold value, controlling a braking system of the train to brake the train with the preset braking torque so as to decelerate the train until the train is stably parked.
That is to say, in this embodiment, after the train is controlled to execute the one-time jumping benchmarking process, it may be further determined whether the train meets a preset jumping benchmarking end condition, if the train meets the preset jumping benchmarking end condition, the train is not continuously subjected to jumping benchmarking control, if it is determined that the train needs to be subjected to jumping benchmarking again, at this time, the train may be subjected to jumping again based on the jumping benchmarking process, so that the train may be stopped accurately.
In this embodiment, the skip benchmarking end condition may include: and when the train stops stably again, the distance between the corresponding current position and the target parking position is smaller than the parking distance threshold value, or the number of times that the train has already performed jumping and benchmarking reaches the maximum jumping and benchmarking number.
In order to make the present embodiment clearly understood by those skilled in the art, the train jumping method of the present embodiment is described below with reference to fig. 3 and 4. It should be noted that fig. 3 describes, by way of example, after a train enters a platform, determining whether the train starts to jump according to a stopping condition of the train.
As shown in fig. 3, may include:
Specifically, the current position of the train head and the current speed of the train can be calculated and obtained according to a speed and distance measuring module on the train every period.
In addition, the platform area position closest to the current vehicle position can be obtained from the electronic map module, and the current parking position and the platform area position are compared. If the vehicle is in the platform area and has been parked, go to step 302, otherwise, no jump is made.
The stopping distance threshold is a preset critical value of a distance value, if the distance between the current stopping position and the target stopping position of the train is smaller than or equal to the stopping distance threshold, the train is accurately stopped, at the moment, jumping control is not needed, and if the distance between the current stopping position and the target stopping position is larger than the stopping distance threshold, the train is not stopped.
In one implementation of the present application, a target parking position of a current station platform can be obtained from the electronic map module, and compared with the current parking position, if the distance from the vehicle head to the target parking position is less than a configured parking window, the vehicle is already stopped at the station platform and is ready to be stably parked, and jumping is not performed to align targets, otherwise, the procedure goes to step 303.
And 303, judging that the distance between the current parking position and the target parking position is smaller than the preset maximum distance of the jump mode, if so, executing 304, otherwise, determining that the parking is not allowed.
The maximum distance of the jump mode is a preset distance critical value allowed by the jump mode, if the distance between the current parking position and the target parking position is smaller than the distance critical value, the train is allowed to adjust the current parking position in a jump target-alignment mode, and if the distance is larger than the distance critical value, the train is not stopped.
It is understood that the value of the maximum distance of the skip mode may be set based on the actual application requirement, for example, the maximum distance of the skip mode is 500 cm, and at this time, if the distance between the current parking position and the target parking position is less than 500 cm, it may be determined that the train can perform skip benchmarking at the position.
The maximum jump mode distance in this embodiment is greater than the parking distance threshold.
The maximum jumping benchmarking number is the maximum value of the preset number of times of allowing the train to jump benchmarking at the platform, and in practical application, the maximum jumping benchmarking number can be set according to the requirements of practical application. For example, the maximum number of jumping benchmarks may be configured to be 3 times according to user requirements.
Specifically, the VOBC entry skip beacon message can be reported to the zone controller ZC and ATS corresponding to the platform zone, so that the ZC and ATS know the current state information of the train.
And step 306, controlling the train to start a jump benchmarking process, stopping the train again after the train is started or considering that one jump benchmarking is finished when the jump control time reaches the maximum jump train control time.
Specifically, after the jump benchmarking is completed, 1 may be added to the number of times the train has performed the jump benchmarking at the station, so as to update the number of times.
After step 306, steps 302-304 may be continued until the vehicle stops stably in the platform area or no longer performs jump targeting, and the process is ended.
The train jump control state for the control train starting the jump benchmarking process in step 306 is schematically shown in fig. 4, and is shown in fig. 4.
After the train enters the jumping benchmarking stage, the state of the control unit is initialized to the jumping starting stage, the current speed and the current position of the train are periodically read from a speed and distance measuring module of the train, the jumping direction is determined according to the current stopping position and the target stopping position of the train, and a traction system of the train is controlled to pull the train in the jumping direction by the preset first traction torque.
Specifically, the skip direction and the preset traction torque may be transmitted to a train Control and Management system TCMS (train Control and Management system) every cycle, and accordingly, the TCMS may transmit the skip direction and the preset traction torque to a traction system of the train, thereby enabling the train to smoothly move.
If the current speed of the train is greater than 0, the train is considered to be started successfully, and the train is switched to a middle-jump stage; if the speed is always 0 within the maximum jump time threshold, the jump is finished.
Wherein the preset tractive torque is configured according to train performance.
A middle jump stage: periodically reading the current speed and position of the train from a speed and distance measuring module of the train, and if the distance from the current position of the train to a target parking position is less than a window for accurately parking the train, immediately switching to a jump finishing stage; otherwise, a traction torque is calculated according to the speed, position and target parking position of the current train and is sent to the TCMS together with the jump direction. The speed is controlled to be a lower value in the stage, so that the vehicle slowly approaches to the target parking position.
Specifically, the current speed and position of the train may be periodically read from a velocity-measuring ranging module of a vehicle-mounted controller VOBC (vehicle on-board controller) of the train.
And (3) a jump ending stage: the vehicle is slowly stopped by sending a preset brake torque to the TCMS. And meanwhile, the current speed of the train is periodically read from a speed and distance measuring module of the VOBC, if the speed lasts for a preset number (for example, 5) of periods to be 0, the train is considered to have finished one-time jumping target alignment, and the jumping target alignment is quitted.
Corresponding to the train jump control methods provided in the foregoing embodiments, an embodiment of the present application further provides a train jump control device, and since the train jump control device provided in the embodiment of the present application corresponds to the train jump control methods provided in the foregoing embodiments, the embodiments of the train jump control method described above are also applicable to the train jump control device provided in the embodiment, and will not be described in detail in the embodiment.
Fig. 5 is a schematic structural diagram of a train jump control device according to an embodiment of the present application.
As shown in fig. 5, the apparatus may include: a first determination module 110, a first control module 120, a first acquisition module 130, and a second control module 140, wherein:
the first determining module 110 is configured to determine a jump direction of the train according to a target parking position and a current parking position of the train.
A first control module 120 for controlling a traction system of the train to pull the train in the skip direction at a preset first traction torque.
The first obtaining module 130 is configured to periodically obtain a current location of the train from the time of starting traction to the time of controlling the train in a jump to the maximum time of controlling the train in the jump.
And the second control module 140 is configured to control a braking system of the train to brake the train with a preset braking torque when it is determined that the distance between the current position and the target stopping position obtained in the present period is less than or equal to a preset stopping distance threshold value, so that the train is decelerated until stable stopping.
In an embodiment of the present application, in order to further achieve accurate vehicle control, on the basis of the embodiment of the apparatus shown in fig. 5, the apparatus further includes:
and a second obtaining module (not shown in the figure) for obtaining the current speed of the train in synchronization with the periodic obtaining of the current position of the train.
And a second determining module (not shown in the figure) for determining a corresponding second traction torque according to the current speed, the current position and the target parking position when it is determined that the distance between the current position and the target parking position obtained in the present period is greater than the parking distance threshold.
And a third control module (not shown) for controlling a traction system of the train to pull the train in the skip direction of the train at the second traction torque.
In an embodiment of the present application, the second obtaining module is specifically configured to: and determining the current speed of the train according to the detection data output by the speed sensor of the train, wherein the speed sensor is arranged on the wheel of the train.
In one embodiment of the present application, the apparatus may further include:
and the fourth control module is used for controlling a braking system of the train to brake the train with preset braking torque when the jumping train control time reaches the preset maximum jumping train control time and the distance between the current position and the target parking position obtained in the period is still larger than the parking distance threshold value, so that the train is decelerated until the train is stably parked.
In one embodiment of the present application, the apparatus may further include:
and the judging module is used for judging whether the train meets the preset jump benchmarking ending condition or not.
And the fifth control module is used for repeatedly executing the jumping and benchmarking process until the train meets the jumping and benchmarking end condition if the train does not meet the preset jumping and benchmarking end condition.
Wherein, the jumping benchmarking process comprises the following steps: and determining the jumping direction of the train according to the target parking position and the current parking position of the train. Controlling a traction system of the train to pull the train in the skip direction at a preset first traction torque. And periodically acquiring the current position of the train from the traction start to the process that the jumping train control time reaches the maximum jumping train control time. And if the distance between the current position and the target parking position obtained according to the determination period is less than or equal to the preset parking distance threshold value, controlling a braking system of the train to brake the train at the preset braking torque so as to decelerate the train until the train is stably parked.
In one embodiment of the present application, the skip benchmarking end condition includes: and when the train stops stably again, the distance between the corresponding current position and the target parking position is smaller than the parking distance threshold value, or the number of times that the train has already performed jumping and benchmarking reaches the maximum jumping and benchmarking number.
The train jump control device of the embodiment determines a jump direction of a train by combining a target stop position and a current stop position of the train when the train needs to be subjected to jump alignment, controls a traction system of the train to pull the train in the jump direction by a preset first traction torque, so that the train is slowly started, determines whether the distance between the current position and the target stop position obtained in the period is larger than a preset stop distance threshold value or not in the process from the time of starting to pull to the time of jumping and controlling the train to the maximum jump and controlling the train, and directly controls a brake system of the train to brake the train by the preset brake torque if the distance between the current position and the target stop position obtained in the period is smaller than or equal to the preset stop distance threshold value, so that the train is decelerated and stably stopped. Therefore, when the train is subjected to jumping contrast control, the train is slowly started through a traction system of the train, the current position of the train is periodically acquired, and when the distance between the current position and the target parking position acquired in the period is determined to be smaller than a preset parking distance threshold value, the train is slowly and stably stopped through a braking system of the train, so that the train is slowly close to the target parking position of the train, the accurate control of the jumping of the train on the target is realized, the accurate parking is realized, and the control accuracy is improved.
In order to implement the above embodiment, the present application also proposes a train including the train jump control device in the above embodiment.
In order to implement the above embodiments, the present application also proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the train jump control method of any of the above embodiments of the present application.
In the description of the present application, it is to be understood that the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly specifically limited otherwise. In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (14)
1. A train jump control method, characterized in that the method comprises:
determining the jumping direction of the train according to the target parking position and the current parking position of the train;
controlling a traction system of the train to pull the train in the skip direction at a preset first traction torque;
periodically acquiring the current position of the train from the beginning of traction to the process that the time for controlling the train by jumping reaches the maximum time for controlling the train by jumping;
and if the distance between the current position obtained in the period and the target parking position is determined to be less than or equal to a preset parking distance threshold value, controlling a braking system of the train to brake the train with a preset braking torque so as to decelerate the train until the train is stably parked.
2. The method of claim 1, wherein the controlling the traction system of the train to pull the train in the skip direction at a preset first traction torque further comprises:
synchronizing with the current position of the train obtained periodically to obtain the current speed of the train;
if the distance between the current position obtained in the period and the target parking position is larger than the parking distance threshold value, determining a corresponding second traction torque according to the current speed, the current position obtained in the period and the target parking position;
controlling a traction system of the train to pull the train in a skip direction of the train at the second traction torque.
3. The method of claim 1, wherein the periodically obtaining the current location of the train after the time from the start of the train pulling to the time of the skip car control to the maximum skip car control time further comprises:
and when the jumping train control time reaches the preset maximum jumping train control time, if the distance between the current position obtained in the period and the target parking position is still larger than the parking distance threshold value, controlling a braking system of the train to brake the train with preset braking torque so as to decelerate the train until the train is stably parked.
4. The method according to any one of claims 1-3, wherein after said controlling a braking system of the train to brake the train at a preset braking torque to slow the train to a standstill, the method further comprises:
judging whether the train meets a preset jump benchmarking end condition or not;
if the train does not meet the preset jump benchmarking end condition, the jump benchmarking process is repeatedly executed until the train meets the jump benchmarking end condition;
wherein the jumping benchmarking process comprises: determining the jumping direction of the train according to the target parking position and the current parking position of the train; controlling a traction system of the train to pull the train in the skip direction at a preset first traction torque; periodically acquiring the current position of the train from the beginning of traction to the process that the time for controlling the train by jumping reaches the maximum time for controlling the train by jumping; and if the distance between the current position obtained in the period and the target parking position is determined to be less than or equal to a preset parking distance threshold value, controlling a braking system of the train to brake the train with a preset braking torque so as to decelerate the train until the train is stably parked.
5. The method of claim 4, wherein the skip benchmarking end condition comprises: and when the train stops stably again, the distance between the corresponding parking position and the target parking position is smaller than a parking distance threshold value, or the number of times that the train has already performed jumping and target aligning reaches the maximum jumping and target aligning number.
6. The method of claim 2, wherein said obtaining a current speed of the train comprises:
and determining the current speed of the train according to detection data output by a speed sensor of the train, wherein the speed sensor is arranged on a wheel of the train.
7. A train jump control apparatus, characterized in that the apparatus comprises:
the first determining module is used for determining the jumping direction of the train according to the target parking position and the current parking position of the train;
the first control module is used for controlling a traction system of the train to traction the train in the jumping direction at a preset first traction torque;
the first acquisition module is used for periodically acquiring the current position of the train from the beginning of traction to the process that the time for controlling the train in jumping reaches the maximum time for controlling the train in jumping;
and the second control module is used for controlling a braking system of the train to brake the train with a preset braking torque when the distance between the current position obtained in the period and the target parking position is determined to be less than or equal to a preset parking distance threshold value, so that the train is decelerated until the train is stably parked.
8. The apparatus of claim 7, further comprising:
the second acquisition module is used for acquiring the current speed of the train in synchronization with the periodical acquisition of the current position of the train;
a second determining module, configured to determine, when it is determined that a distance between the current position obtained in this period and the target parking position is greater than the parking distance threshold, a corresponding second traction torque according to the current speed, the current position, and the target parking position;
a third control module to control a traction system of the train to pull the train in the skip direction of the train at the second traction torque.
9. The apparatus of claim 7, further comprising:
and the fourth control module is used for controlling a braking system of the train to brake the train with preset braking torque when the jumping train control time reaches the preset maximum jumping train control time and the distance between the current position and the target parking position obtained in the period is still larger than the parking distance threshold value, so that the train is decelerated until stably parked.
10. The apparatus according to any one of claims 7-9, wherein the apparatus further comprises:
the judging module is used for judging whether the train meets a preset jumping benchmarking ending condition or not;
the fifth control module is used for repeatedly executing the jumping benchmarking process until the train meets the jumping benchmarking end condition if the train does not meet the preset jumping benchmarking end condition;
wherein the jumping benchmarking process comprises: determining the jumping direction of the train according to the target parking position and the current parking position of the train; controlling a traction system of the train to pull the train in the skip direction at a preset first traction torque; periodically acquiring the current position of the train from the beginning of traction to the process that the time for controlling the train by jumping reaches the maximum time for controlling the train by jumping; and if the distance between the current position obtained in the period and the target parking position is determined to be less than or equal to a preset parking distance threshold value, controlling a braking system of the train to brake the train with a preset braking torque so as to decelerate the train until the train is stably parked.
11. The apparatus of claim 10, wherein the skip benchmarking end condition comprises: and when the train stops stably again, the distance between the corresponding current position and the target parking position is smaller than the parking distance threshold value, or the number of times that the train has already performed jumping and benchmarking reaches the maximum jumping and benchmarking number.
12. The apparatus of claim 9, wherein the second obtaining module is specifically configured to:
and determining the current speed of the train according to detection data output by a speed sensor of the train, wherein the speed sensor is arranged on a wheel of the train.
13. A train, comprising:
the train jump control of any one of claims 7 to 12.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the train jump control method according to any one of claims 1 to 6.
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