CN114919626B - Method, device and system for controlling running of rack rail train - Google Patents
Method, device and system for controlling running of rack rail train Download PDFInfo
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- CN114919626B CN114919626B CN202210610483.1A CN202210610483A CN114919626B CN 114919626 B CN114919626 B CN 114919626B CN 202210610483 A CN202210610483 A CN 202210610483A CN 114919626 B CN114919626 B CN 114919626B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/028—Determination of vehicle position and orientation within a train consist, e.g. serialisation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/08—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only
- B61L23/14—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated
- B61L23/18—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated specially adapted for changing lengths of track sections in dependence upon speed and traffic density
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or vehicle train, e.g. braking curve calculation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/40—Handling position reports or trackside vehicle data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or vehicle train, e.g. braking curve calculation
- B61L2027/204—Trackside control of safe travel of vehicle or vehicle train, e.g. braking curve calculation using Communication-based Train Control [CBTC]
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- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a method, a device and a system for controlling the running of a rack rail train, comprising the following steps: acquiring position information of a plurality of trains, the position information comprising: toothed rail section information, adhesion section position information; determining a tracking mode of each train according to the position information of the train tracked by the train, and calculating an authorized point of the train based on the tracking mode; determining the speed-limiting running mode of each train according to the position information corresponding to the train; and sending the authorized point and the speed-limiting running mode to the corresponding train. The method comprises the steps of acquiring position information of a plurality of trains, configuring tracking modes and running modes based on the position information, determining different tracking modes and running modes according to whether each tracked train (front train) is positioned on an adhesive road section or a toothed rail section, and determining a speed-limiting running mode corresponding to the train according to the position information of the train; therefore, intelligent automatic operation control of the rack rail train is realized based on the switching of the operation mode and the tracking mode.
Description
Technical Field
The invention relates to the technical field of train operation control, in particular to a method, a device and a system for controlling the operation of a rack rail train.
Background
The mountain land (rack) track traffic is used as a novel track traffic system, has the characteristic of strong climbing capacity, is suitable for tourist attractions, and has wide application prospect. The accurate position information of the rack rail train is a key parameter necessary for the operation control of the rack rail train, and the safety, reliability and accuracy of the parameters are critical to the operation safety of the rack rail train.
The mountain (rack) train running control system is a key system for ensuring running safety, improving transportation efficiency and transmitting running information. Because of special standard characteristics and complex operation scenes of mountain (rack) track traffic, the function and structure of the train operation control system are different from those of other track traffic. The mountain land (rack) track traffic adhesion road section is the same as the traditional track traffic, the intelligent and automatic level of functions is considered, the train running control mode can refer to the urban track traffic CBTC system, namely the train running automatic control system based on wireless transmission information completely, a target speed control mode is adopted, a track circuit can be canceled (axle counting) on the ground, and the Zone Controller (ZC) and the vehicle-mounted verification system jointly complete train positioning and integrity checking to realize virtual blocking or mobile blocking. However, the toothed rail section is required to be laid with racks in the middle of the rail, so that the absolute positioning equipment (passive transponder) on the ground for train operation control has no installation condition, and in the process of train operation control, when the absolute positioning on the ground is absent, the accumulated error of the train can be increased along with the increase of the mileage of operation, and finally the operation safety of the train can be influenced, and the operation efficiency is reduced.
The construction period of the rail traffic of the foreign mountain (toothed rail) is earlier, basically at the end of 19 th century to the beginning of 20 th century, the swiss toothed rail railway is completely manually ensured by drivers and driving management staff due to the early opening period (Rayleigh Ji Shan toothed rail 1871, young girl peak toothed rail 1912), small passenger flow, large driving interval, low highest running speed and average travelling speed and other reasons, station signals (young girl peak toothed rail, glacier train and gold train), vehicle section warehousing protection annunciators, turnout switching equipment (comprising opening direction indication), intersection signals or intersection marks and other equipment are configured, and the running safety, speed and interval control of the trains are completely ensured by drivers and driving management staff, so that the drivers contact the motor train matters with the driving management staff through wireless intercom equipment. However, the corresponding manual control has low automation degree, and can lead to the change of the driving mode of the train and increase the operation difficulty of a driver.
Therefore, how to realize the automatic control function of the train on the toothed rail section, ensure the consistency of the driving modes of the train on the adhesive section and the toothed rail section, improve the automation and intelligent level of the rail traffic on the mountain (toothed rail), and improve the overall service capability of the rail traffic on the mountain (toothed rail).
Disclosure of Invention
The invention aims to solve the problem of how to ensure the automation degree of train operation control of a rack train on an adhesion section and a rack section in the prior art, and provides a rack train operation control method, device and system, which can realize intelligent operation control of the rack train.
In order to achieve the above object, the present invention provides the following technical solutions:
a running control method of a rack rail train is applied to an area controller and comprises the following steps:
acquiring position information of a plurality of trains, wherein the position information comprises: toothed rail section information, adhesion section position information;
determining a tracking mode of each train according to the position information of the train tracked by the train, and calculating a protection curve of the train based on the tracking mode; determining the speed-limiting running mode of each train according to the position information corresponding to the train;
and sending the protection curve and the speed limiting operation mode to the corresponding train.
According to a specific embodiment, in the above method for controlling operation of a rack rail train, the determining a tracking mode of each train according to the position information of the train tracked by the train includes:
judging whether the position information corresponding to the tracked trains is the section information of the rack section or not according to each train, if so, using a section tracking mode as the tracking mode of the train, and calculating a protection curve of the train in a forward direction from a protection starting point based on the section tracking mode; if not, the moving blocking mode is used as a tracking mode of the target train, and a protection curve of the train is reversely calculated by an authorization point based on the moving blocking mode;
the method for calculating the protection curve of the train based on the section tracking mode comprises the following steps: and determining the zone protection starting point of the current train according to the occupation information of the next toothed rail zone corresponding to the train.
According to a specific embodiment, in the above-mentioned rack rail train operation control method, the rack rail section information includes: first section information and second section information;
the determining the speed limiting running mode of the train according to the position information corresponding to each train comprises the following steps:
when the position information corresponding to the train is the first section information, corresponding speed limiting information is read from pre-stored rack section speed limiting information based on the first section information, and the read speed limiting information is used as the speed limiting running mode of the train;
and when the position information corresponding to the train is the second section information, calculating the speed limiting running mode of the train based on a small rail protection principle.
According to a specific embodiment, in the above method for controlling operation of a rack rail train, the calculating the speed limit operation mode of the train based on the small rail protection principle includes:
judging whether the next toothed rail section corresponding to the train is occupied or not, if so, the speed-limiting running mode of the train is a common brake;
if not, judging whether the speed limit information of the section where the train is positioned and the next section of the rack is the same based on the pre-stored speed limit information of the section of the rack, and if so, taking the speed limit information as the speed limit running mode of the train; if not, the speed-regulating operation mode is the speed-limiting operation mode of the train.
According to a specific embodiment, in the above method for controlling operation of a rack-and-pinion train, the speed regulation operation mode includes: the flat slope speed is greater than the ascending slope speed, and the ascending slope speed is greater than the descending slope speed;
and the acceleration of the train is a constant value N, wherein,
V 1 for the authorized speed of the current zone, V 2 The authorization speed of the next section corresponding to the current section is determined; l (L) 1 Is the track segment length.
According to a specific embodiment, in the above method for controlling operation of a rack rail train, the acquiring position information of a plurality of trains includes:
determining the section information of the toothed rail section of the train through the magnetic head information of the axle counting magnetic head group in the toothed rail section;
and determining the position information of the adhered road section of the train through the induction information of the transponder group in the adhered road section.
In another aspect of the present invention, there is provided a rack rail train operation control apparatus applied to an area controller, the apparatus comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring position information of a plurality of trains, and the position information comprises: toothed rail section information, adhesion section position information;
the calculation module is used for determining the tracking mode of each train according to the position information of the train tracked by the train and calculating the protection curve of the train based on the tracking mode; determining the speed-limiting running mode of each train according to the position information corresponding to the train;
and the transmission module is used for transmitting the protection curve and the speed limiting operation mode to the corresponding train.
According to a specific embodiment, in the above-mentioned rack rail train operation control device, the rack rail section information includes: first section information and second section information;
the apparatus further comprises: the storage module is used for storing the speed limit information of the rack section;
the computing module is configured to: when the position information corresponding to the train is the first section information, corresponding speed limiting information is read from pre-stored rack section speed limiting information based on the first section information, and the read speed limiting information is used as the speed limiting running mode of the train; and when the position information corresponding to the train is the second section information, calculating the speed limiting running mode of the train based on a small rail protection principle.
In another aspect of the present invention, there is provided a rack rail train operation control system including: the system comprises an area controller, a vehicle-mounted computer, a vehicle-ground wireless transmission network, a shaft counting magnetic head group and a transponder group;
the regional controller is used for generating the protection curve and the speed limiting running mode by adopting the toothed rail train running control method and sending the protection curve and the speed limiting running mode to the corresponding vehicle-mounted computer;
the axle counting magnetic head group is arranged on the rack section and is used for dividing the rack section track section and detecting train wheel pairs;
the transponder group is arranged on the adhesion road section and used for detecting the position information of the train on the adhesion road section;
the vehicle-mounted computer performs information interaction with the regional controller through the train-ground wireless transmission network, and is used for controlling the running speed of the train by taking the protection curve and the speed-limiting running mode as running limiting conditions of the train.
According to a specific embodiment, in the above-mentioned rack rail train operation control system, the end magnetic heads of the axle counting magnetic head group are arranged on the adjacent adhesion sections of the rack rail sections;
an end transponder of the transponder group is disposed proximate the end head.
Compared with the prior art, the invention has the beneficial effects that:
according to the method provided by the embodiment of the invention, the position information of a plurality of trains is obtained, the tracking mode and the running mode based on the adhesion road section and the toothed rail section are configured, different tracking modes are determined according to whether each tracked train (preceding train) is positioned on the adhesion road section or a certain section of the toothed rail section, and the speed-limiting running mode corresponding to the train is determined according to the position information of the train; therefore, a road section switching control mode with higher automation operation degree is established for the rack rail train, and intelligent automatic operation control of the rack rail train is realized based on switching of an operation mode and a tracking mode.
Drawings
FIG. 1 is a flowchart of a method for controlling the operation of a rack rail train according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an adhesive segment train tracking control according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of train tracking control when transponder group information is not obtained prior to entering a rack segment according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a train tracking control when a 1DG section is occupied after obtaining transponder group information before entering a rack segment according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of train tracking control when a 1DG section is idle after obtaining transponder group information before entering a rack segment according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of train tracking control on a toothed rail section according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of train tracking control prior to failure to obtain transponder group information when exiting a toothed track according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of train tracking control prior to obtaining transponder group information at the time of exiting a rack track according to an embodiment of the present invention;
fig. 9 is a plot of the control of the operation of the small rail in accordance with an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should not be construed that the scope of the above subject matter of the present invention is limited to the following embodiments, and all techniques realized based on the present invention are within the scope of the present invention.
Example 1
Fig. 1 shows a rack rail train operation control method according to an exemplary embodiment of the present invention, which is applied to an area controller, including:
acquiring position information of a plurality of trains, wherein the position information comprises: toothed rail section information, adhesion section position information;
determining a tracking mode of each train according to the position information of the train tracked by the train, and calculating a protection curve of the train based on the tracking mode; determining the speed-limiting running mode of each train according to the position information corresponding to the train;
and sending the protection curve and the speed limiting operation mode to the corresponding train.
The area controller can acquire which section of the rack track section each train is currently in or a specific position in the adhesion section through the position information of the trains.
In this embodiment, by acquiring position information of a plurality of trains, configuring a tracking mode and an operation mode based on an adhesion road section and a rack section, determining different tracking modes according to whether each tracked train (preceding train) is located on the adhesion road section or a section of the rack section, and determining a speed-limiting operation mode corresponding to the train according to the position information of the train; therefore, a section switching control mode with higher automatic operation degree is established for the rack rail train, and intelligent automatic operation control of the rack rail train is realized.
Example 2
In one possible implementation manner, in the above method for controlling operation of a rack rail train, the acquiring position information of a plurality of trains includes:
determining the information of the rack section of the train through the magnetic head information of the axle counting magnetic head group in the rack section;
and determining the position information of the adhered road section of the train through the induction information of the transponder group in the adhered road section.
In one possible implementation manner, the determining the tracking manner of each train according to the position information of the train tracked by the train includes:
judging whether the position information corresponding to the tracked trains is the section information of the rack section or not according to each train, if so, using a section tracking mode as the tracking mode of the train, and calculating a protection curve of the train in a forward direction from a protection starting point based on the section tracking mode; if not, the moving blocking mode is used as a tracking mode of the target train, and a protection curve of the train is reversely calculated by an authorization point based on the moving blocking mode;
wherein, calculate the protection curve (including accelerating, decelerating, braking and keeping) of train based on the district tracking mode, include: determining a section protection starting point (comprising acceleration, deceleration, braking and holding) of the current train according to the occupation information of the next toothed rail section corresponding to the train; correspondingly, unlike the moving blocking mode, the moving blocking mode is to reversely calculate a protection curve by taking the tail of the previous train as an authorized point, and track the train based on the curve obtained by the reverse calculation.
In one possible implementation, the rack segment section information includes: first section information and second section information;
the determining the speed limiting running mode of the train according to the position information corresponding to each train comprises the following steps:
when the position information corresponding to the train is the first section information, corresponding speed limiting information is read from pre-stored rack section speed limiting information based on the first section information, and the read speed limiting information is used as the speed limiting running mode of the train;
and when the position information corresponding to the train is the second section information, calculating the speed limiting running mode of the train based on a small rail protection principle.
Specifically, the accurate position of the train cannot be obtained based on the transponder in the toothed rail section, so that the accumulated error can be generated due to the positioning mode when the train runs in the toothed rail section. Thus, in each section of the rack section, a respective safety protection sub-section is configured, i.e. each rack section comprises: a first section (i.e., a main rail section) and a second section (a safety protection section, which may also be referred to as a small rail section).
Therefore, in this embodiment, when the train runs in the second section, the speed-limiting running mode of the train is determined based on the small rail protection principle, and speed-regulating safety control of the train is realized based on the corresponding small rail protection principle.
In one possible implementation manner, the calculating the speed limiting running mode of the train based on the small rail protection principle includes:
judging whether the next toothed rail section corresponding to the train is occupied or not, if so, the speed-limiting running mode of the train is a common brake;
if not, judging whether the speed limit information of the section where the train is positioned and the next section of the rack is the same based on the pre-stored speed limit information of the section of the rack, and if so, taking the speed limit information as the speed limit running mode of the train; if not, the speed-regulating operation mode is the speed-limiting operation mode of the train.
In one possible implementation manner, the speed regulation operation manner includes: the flat slope speed is greater than the ascending slope speed, and the ascending slope speed is greater than the descending slope speed;
and the acceleration of the train is a constant value N, wherein,
V 1 for the authorized speed of the current zone, V 2 The authorization speed of the next section corresponding to the current section is determined; l (L) 1 Is the track segment length.
In this embodiment, the speed-limiting operation mode under different conditions determined based on the small rail protection principle due to the accumulated error generated by the rack section positioning mode is eliminated, so as to ensure the safe operation of the train.
In another aspect of the present invention, there is provided a rack rail train operation control apparatus applied to an area controller, the apparatus comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring position information of a plurality of trains, and the position information comprises: toothed rail section information, adhesion section position information;
the calculation module is used for determining the tracking mode of each train according to the position information of the train tracked by the train and calculating the protection curve of the train based on the tracking mode; determining the speed-limiting running mode of each train according to the position information corresponding to the train;
and the transmission module is used for transmitting the protection curve and the speed limiting operation mode to the corresponding train.
In one possible implementation, the rack section information includes: first section information and second section information;
the apparatus further comprises: the storage module is used for storing the speed limit information of the rack section;
the computing module is configured to: when the position information corresponding to the train is the first section information, corresponding speed limiting information is read from pre-stored rack section speed limiting information based on the first section information, and the read speed limiting information is used as the speed limiting running mode of the train; and when the position information corresponding to the train is the second section information, calculating the speed limiting running mode of the train based on the small rail protection rule.
In another aspect of the present invention, there is provided a rack section automatic operation control system comprising: the system comprises an area controller, a vehicle-mounted computer, a vehicle-ground wireless transmission network, a shaft counting magnetic head group and a transponder group;
the regional controller is used for generating the authorized point and the speed limiting running mode by adopting the toothed rail train running control method and sending the authorized point and the speed limiting running mode to the corresponding vehicle-mounted computer;
the axle counting magnetic head group is arranged on the rack section and is used for dividing the rack section track section and detecting train wheel pairs;
the transponder group is arranged on the adhesion road section and used for detecting the position information of the train on the adhesion road section;
the vehicle-mounted computer is used for carrying out information (tracking mode, protection curve, position information and the like) interaction with the regional controller through the vehicle-to-ground wireless transmission network, and is used for controlling the running speed of the train by taking the authorized point and the speed-limiting running mode as running limiting conditions of the train.
Specifically, the axle counting magnetic head group comprises: the axle counting host, the axle counting magnetic head and the track relay corresponding to the axle counting section; the axle counting magnetic head is used for detecting train wheel pairs and realizing the division of the track sections of the toothed rail sections, as shown in fig. 2, the toothed rail sections are divided into a plurality of track sections through the axle counting magnetic head, each toothed rail section corresponds to one track relay, each track section is divided into a first section (main track section) and a second section (small track section) by the axle counting magnetic head, the main track corresponds to one main track relay, the small track corresponds to one small track relay, and if 1DG is composed of a 1DG main track and a 1DG small track. The axle counting host judges whether the track section is occupied or unoccupied by acquiring axle counting magnetic head information; and transmitting the track section occupation/idle information to the zone controller so that the zone controller acquires the rack section information of the train.
The regional controller is ground core equipment for train operation control and is a hub for ground-vehicle information interaction. The method is mainly responsible for calculating and generating mobile authorization of the communication train in the control range, ensuring the safe operation of the communication train in the control area, and also storing the speed limit information of the rack section;
the transponder group is a passive transponder group; the passive transponder can save absolute mileage of a line, the train reads passive transponder information through a transponder reader arranged at the bottom of the train to correct the absolute position of the train, and the absolute position of the train on an adhesion road section is transmitted to the area controller.
The end passive transponder group (i.e. the transponder between the adhesive road section and the toothed rail road section) in the transponder group mainly assists the area controller to realize the switching of the train tracking mode and the speed limiting running mode.
The vehicle-mounted safety computer is a vehicle-mounted core device for train operation control and is mainly responsible for calculating a target distance mode curve in real time, supervising and comparing the operation speed and the train position, implementing braking intervention, processing communication data with ground equipment and the like. The train is also provided with a speed measuring subsystem, a wheel sensor, an accelerometer and other devices, so that the real-time speed calculation of the train is realized together.
In one possible embodiment, the end heads of the axle head group are arranged on the adjacent adhesive segments of the toothed rail section; an end transponder of the transponder group is disposed proximate the end head.
The train-ground wireless transmission network is used for realizing a channel for wireless communication transmission between the train and the ground equipment, the train transmits train set information, the position of the train and the like to the ground, and the ground transmits the authorization information of the train to the train.
Specifically, the rack segment sections described in this embodiment are divided based on the following principle:
(1) The dividing length of the rack rail section is determined according to the train tracking requirement and the engineering environment;
(2) The rack track section consists of a main track and a small track;
(3) Judging that the toothed rail section is occupied by a car when the main rail or the small rail is occupied by the car, and judging that the toothed rail section is unoccupied when the main rail and the small rail are unoccupied;
TABLE 1 logical relationship of Main Rail, small Rail and toothed rail
(4) The small rail can also be called a protection area to realize train protection, and when the next toothed rail section is occupied, the subsequent train is driven into the small rail and braking and stopping are triggered;
(5) The small rail can also be called a speed regulation area, and when the adjacent two toothed rail sections have different line speed limits, the speed regulation is realized on the small rail;
the small rail speed regulating method (the flat slope speed is larger than the ascending slope speed and the ascending slope speed is larger than the descending slope speed):
the small rail is arranged on a high-speed toothed rail section, when a first wheel pair of the train is pressed into the small rail, the area controller obtains the time through a metering shaft (or a small rail track relay) and sends an acceleration to high-speed instruction to the train through a train-ground wireless communication subsystem;
the small rail should be arranged on the section of the high-speed toothed rail, when the first wheel pair of the train is pressed into the small rail, the regional controller obtains the time through a metering shaft (or a small rail track relay) and sends a speed-down to low-speed instruction to the train through the train-ground wireless communication subsystem.
The small rail acceleration of each toothed rail section is constant and should be larger than |v 1 2 -v 2 2 |/2*L1 Small size ，L1 Small size Is the length of the small rail.
(6) The length of the small rail is mainly determined by the common braking distance and the safety margin under the speed limit of the toothed rail section line, and is generally the sum of the common braking distance and the safety margin.
(7) The front end axle counting magnetic head can be arranged on the adhesion section or the tooth track section, the rear end axle counting magnetic head is arranged on the tooth track section, and the transponder group is arranged on the adhesion section in front of the section;
(8) The last toothed rail section of the toothed rail section, the front end axle counting magnetic head should be arranged on the toothed rail section, the rear end axle counting magnetic head should be arranged on the adhesion section, and the small rail section of the section and the transponder group are arranged on the adhesion section.
Main rail and small rail control mode: because the train running on the toothed rail section loses the accurate position, the position of the train can only be checked through the axle counting track section, and therefore the running mode of the train on the toothed rail section is divided into a main rail running mode and a small rail running mode, wherein the main rail running mode is that the train runs according to the speed limit of the toothed rail section line where the main rail is positioned; the rail operation mode comprises the following steps: the method comprises three modes of a holding operation mode, a braking and stopping operation mode and a speed adjusting operation mode, wherein the holding operation mode is that the next toothed rail section is idle (a track relay is sucked up), and the speed limit of the next section is the same as that of the section, and is consistent with the operation mode of a main rail; the braking and parking operation mode is that the next toothed rail section is occupied (a track relay falls), and when a small rail is occupied (the small rail track relay falls), a service braking command is triggered to slow down and park; the speed adjusting operation mode is that the next toothed rail section is idle (the track relay is sucked up), the speed limit of the next section is different from the speed limit of the section, and the speed is adjusted according to a small rail speed adjusting method.
Automatic running control method for toothed rail train in toothed rail section
The rack section train control includes before entering the rack section (fig. 3), the rack section (fig. 4) and before exiting the rack section (fig. 5);
1) Before entering the toothed rail section
(1) The train is positioned on an adhesion road section before entering the tooth, absolute positioning is realized through a passive transponder on the ground, the position of the train is corrected, and the accurate positioning of the train is obtained;
(2) The preceding train does not drive into the toothed rail section, and the following train tracks and controls the train according to the train of the adhesion road section;
(3) After the preceding train enters the rack section, the following train does not obtain transponder group information arranged on the adhesion section and the rack section, after the preceding train completely enters the rack section, the zone controller obtains the moment through the axle counting subsystem, and the zone controller changes the tracking point of the following train from the tail of the preceding train to the front end of the first (nearest) rack section through the train ground communication subsystem;
the condition that the train completely enters the rack section is that the wheel track number detected by the axle counting magnetic head of the rack section is equal to the wheel track number of the train;
(4) After the preceding train completely enters the rack section, the following train already obtains the transponder group information arranged on the adhesion section and the rack section, if the preceding train does not completely exit the first rack section (i.e. the rack section has a occupied car), the tracking point of the following train is kept as the front end of the first (nearest) rack section; if the preceding train completely runs out of the first rack section (i.e. the rack section is not occupied by the train), the area controller obtains the time through the axle counting subsystem, and the area controller changes the tracking point of the following train from the front end of the first (nearest) rack section to the front end of the second rack section (or the rear end of the first rack section) through the train-ground communication subsystem;
2) After entering the toothed rail section, in principle, when the main rail section of the toothed rail section is in operation under the set line speed limit, when the small rail section of the toothed rail section is in operation, the train is controlled by the area controller to trigger the service brake or keep operating according to the occupation condition of the next section:
(1) After the subsequent train enters the rack section and does not enter the small rail of the rack section, the train runs according to the speed limit of the line of the rack section,
if the next toothed rail section is occupied, the tracking point of the subsequent train is kept as the rear end of the toothed rail section (namely the front section of the next toothed rail section);
if the next toothed rail section is not occupied by the vehicle, the regional controller obtains the time through the axle counting subsystem, and the regional controller changes the tracking point of the subsequent train from the front end of the next toothed rail section to the rear end of the next toothed rail section (or the front end of the third toothed rail section through the train-ground communication subsystem;
(2) After the subsequent train enters the toothed rail section, and the first wheel set is pressed into the small rail (or when the track relay of the small rail falls),
if the next toothed rail section is occupied by a train, the area controller obtains the time through the axle counting subsystem and sends a service braking command to the subsequent train through train-ground wireless communication;
if the next section is not occupied (when the track relay of the next section is sucked up), the area controller obtains the time through the axle counting subsystem, and changes the tracking point of the subsequent train from the front end of the next rack section (the rear end of the present rack section) to the rear end of the next rack section (or the front end of the third rack section) through the train-ground communication subsystem;
3) Before exiting the toothed rail section
The train is positioned in the last section of the toothed track section before tooth discharge, and if the following train does not obtain the information of the transponder group arranged on the toothed track section and the adhesion section, the tracking point of the following train keeps the rear end of the toothed track section;
if the following train obtains the information of the transponder group arranged on the toothed rail section and the adhesive section, the passive transponder on the ground is used for realizing absolute positioning, correcting the position of the train, obtaining the accurate positioning of the train, transmitting the accurate position information to the area controller through the train-ground wireless communication subsystem, and changing the tracking point of the following train from the rear end of the toothed rail section to the tail of the following train through the train-ground communication subsystem (the same adhesive section train tracking control).
The following table shows the speed limit information of the rack section saved by the area controller in this embodiment:
toothed rail section speed limiting meter
In summary, the system provided by the embodiment of the invention has the following advantages:
1. the train absolute positioning is realized by adopting a shaft technology on the toothed rail section, and the train absolute positioning is realized by adopting a shaft to detect the wheel set of the train. 2. The train speed control mode adopts a fixed block grading speed control mode. 3. Establishing an automatic control flow and a speed protection triggering mechanism for train operation of the toothed rail section; analyzing the running process of the toothed rail train on the toothed rail section, establishing the automatic control flow of the running of the toothed rail train from the adhesion section to the toothed rail section, ascending the toothed rail section, descending the toothed rail section from the ascending to the descending, descending the toothed rail section from the descending to the ascending, ascending the toothed rail section to the adhesion section and the like, and determining the condition and the time for triggering the speed protection of the train in the tracking process. 4. A small rail (a protection section) is adopted to realize the functions of speed protection, speed adjustment and speed maintenance; each blocking partition is divided into a main rail and a small rail (a protection section), a train runs at a set target speed in the main rail, in the small rail (the protection section), if the next blocking partition is occupied, the train enters the small rail to stop by adopting common braking, if the next blocking partition is idle, the target speeds of the two blocking partitions are inconsistent, the train enters the small rail to accelerate or decelerate to the target speed, and if the target speeds of the two blocking partitions are consistent, the train enters the small rail to keep the target speed running. 5. The passive transponder group is adopted to realize the control mode switching of the adhesion road section and the tooth rail road section: and (3) at the tail end of the adhesion road section at the intersection of the adhesion road section and the toothed rail road section, a passive transponder group is laid to realize the switching function of a speed control mode speed-target distance mode and a grading speed control mode of the train.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. A method for controlling the operation of a rack rail train, which is applied to an area controller and comprises the following steps:
acquiring position information of a plurality of trains, wherein the position information comprises: toothed rail section information, adhesion section position information;
determining a tracking mode of each train according to the position information of the train tracked by the train, and calculating a protection curve of the train based on the tracking mode; determining the speed-limiting running mode of each train according to the position information corresponding to the train;
and sending the protection curve and the speed limiting operation mode to a corresponding train;
the determining the tracking mode of each train according to the position information of the train tracked by the train comprises the following steps:
judging whether the position information corresponding to the tracked trains is the section information of the rack section or not according to each train, if so, using a section tracking mode as the tracking mode of the train, and calculating a protection curve of the train in a forward direction from a protection starting point based on the section tracking mode; if not, the moving blocking mode is used as a tracking mode of the target train, and a protection curve of the train is reversely calculated by an authorization point based on the moving blocking mode;
the method for calculating the protection curve of the train based on the section tracking mode comprises the following steps: determining a zone protection starting point of the current train according to the occupation information of the next toothed rail zone corresponding to the train;
the rack section information includes: first section information and second section information;
the determining the speed limiting running mode of the train according to the position information corresponding to each train comprises the following steps:
when the position information corresponding to the train is the first section information, corresponding speed limiting information is read from pre-stored rack section speed limiting information based on the first section information, and the read speed limiting information is used as the speed limiting running mode of the train;
when the position information corresponding to the train is the second section information, calculating the speed-limiting running mode of the train based on a small rail protection principle;
the speed limiting running mode of the train is calculated based on the small rail protection principle, and the speed limiting running mode comprises the following steps:
judging whether the next toothed rail section corresponding to the train is occupied or not, if so, the speed-limiting running mode of the train is a common brake;
if not, judging whether the speed limit information of the section where the train is positioned and the next section of the rack is the same based on the pre-stored speed limit information of the section of the rack, and if so, taking the speed limit information as the speed limit running mode of the train; if not, the speed-regulating operation mode is the speed-limiting operation mode of the train.
2. The running control method of a rack rail train according to claim 1, wherein the speed regulation running mode includes: the flat slope speed is greater than the ascending slope speed, and the ascending slope speed is greater than the descending slope speed;
and the acceleration of the train is a constant value N, wherein,
，V 1 for the authorized speed of the current zone, V 2 The authorization speed of the next section corresponding to the current section is determined; l (L) 1 Is the track segment length.
3. The rack rail train operation control method according to claim 1 or 2, wherein the acquiring the position information of the plurality of trains includes:
determining the section information of the toothed rail section of the train through the magnetic head information of the axle counting magnetic head group in the toothed rail section;
and determining the position information of the adhered road section of the train through the induction information of the transponder group in the adhered road section.
4. A rack rail train operation control device, characterized by being applied to an area controller, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring position information of a plurality of trains, and the position information comprises: toothed rail section information, adhesion section position information;
the calculation module is used for determining the tracking mode of each train according to the position information of the train tracked by the train and calculating the protection curve of the train based on the tracking mode; determining the speed-limiting running mode of each train according to the position information corresponding to the train; the determining the tracking mode of each train according to the position information of the train tracked by the train comprises the following steps:
judging whether the position information corresponding to the tracked trains is the section information of the rack section or not according to each train, if so, using a section tracking mode as the tracking mode of the train, and calculating a protection curve of the train in a forward direction from a protection starting point based on the section tracking mode; if not, the moving blocking mode is used as a tracking mode of the target train, and a protection curve of the train is reversely calculated by an authorization point based on the moving blocking mode;
the method for calculating the protection curve of the train based on the section tracking mode comprises the following steps: determining a zone protection starting point of the current train according to the occupation information of the next toothed rail zone corresponding to the train;
the transmission module is used for transmitting the protection curve and the speed limiting operation mode to the corresponding train;
the rack section information includes: first section information and second section information;
the apparatus further comprises: the storage module is used for storing the speed limit information of the rack section;
the computing module is configured to: when the position information corresponding to the train is the first section information, corresponding speed limiting information is read from pre-stored rack section speed limiting information based on the first section information, and the read speed limiting information is used as the speed limiting running mode of the train; when the position information corresponding to the train is the second section information, calculating the speed-limiting running mode of the train based on a small rail protection principle;
the speed limiting running mode of the train is calculated based on the small rail protection principle, and the speed limiting running mode comprises the following steps:
judging whether the next toothed rail section corresponding to the train is occupied or not, if so, the speed-limiting running mode of the train is a common brake;
if not, judging whether the speed limit information of the section where the train is positioned and the next section of the rack is the same based on the pre-stored speed limit information of the section of the rack, and if so, taking the speed limit information as the speed limit running mode of the train; if not, the speed-regulating operation mode is the speed-limiting operation mode of the train.
5. A rack rail train operation control system, comprising: the system comprises an area controller, a vehicle-mounted computer, a vehicle-ground wireless transmission network, a shaft counting magnetic head group and a transponder group;
the regional controller is used for generating the protection curve and the speed limiting running mode by adopting the rack rail train running control method according to any one of claims 1-3, and sending the protection curve and the speed limiting running mode to a corresponding vehicle-mounted computer;
the axle counting magnetic head group is arranged on the rack section and is used for dividing the rack section track section and detecting train wheel pairs;
the transponder group is arranged on the adhesion road section and used for detecting the position information of the train on the adhesion road section;
the vehicle-mounted computer performs information interaction with the regional controller through the train-ground wireless transmission network, and is used for controlling the running speed of the train by taking the protection curve and the speed-limiting running mode as running limiting conditions of the train.
6. The rack rail train operation control system according to claim 5, wherein the end heads of the axle counting head group are provided on an adhesion section adjacent to the rack rail section;
an end transponder of the transponder group is disposed proximate the end head.
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| ES2068258T3 (en) * | 1988-12-21 | 1995-04-16 | Matra Transport | TRANSPORT INSTALLATION WITH AUTOMATIC CONTROL OF VEHICLE DISPLACEMENT. |
| JPH03248959A (en) * | 1990-02-28 | 1991-11-06 | Kawasaki Steel Corp | Signal device for railroad having toothed rail |
| JP5307184B2 (en) * | 2011-05-27 | 2013-10-02 | 株式会社京三製作所 | In-vehicle signal type automatic train control system and in-vehicle signal type automatic train control method |
| CN103693078B (en) * | 2013-12-18 | 2015-11-18 | 北京大成通号轨道交通设备有限公司 | The train automatic protection method of target range pattern |
| KR101665094B1 (en) * | 2014-08-04 | 2016-10-13 | 한국철도기술연구원 | A railway crossing structure of Submerged Floating Railway |
| CN108263449B (en) * | 2017-12-08 | 2020-04-28 | 天津津航计算技术研究所 | Urban rail train tracking method based on speed tracking |
| JP6902160B2 (en) * | 2018-03-26 | 2021-07-14 | 株式会社日立製作所 | Train control system and train control method |
| JP7224788B2 (en) * | 2018-06-12 | 2023-02-20 | 東日本旅客鉄道株式会社 | Stationary stop control system and on-board equipment for railway vehicle |
| JP7181022B2 (en) * | 2018-08-07 | 2022-11-30 | 東日本旅客鉄道株式会社 | train control system |
| CN110356434B (en) * | 2019-06-12 | 2021-07-20 | 北京全路通信信号研究设计院集团有限公司 | Light-weight train control system based on TAG positioning |
| CN110775100A (en) * | 2019-09-18 | 2020-02-11 | 浙江众合科技股份有限公司 | Train speed monitoring system and method of point type train control system |
| CN110641524B (en) * | 2019-10-31 | 2021-11-02 | 中铁二院工程集团有限责任公司 | Method for continuously controlling train based on movement authorization generated by interlocking |
| CN112009522B (en) * | 2020-09-08 | 2021-07-20 | 四川瑞云信通科技有限公司 | Train control system and method for mountain track |
| CN114475714B (en) * | 2022-02-25 | 2023-09-29 | 北京全路通信信号研究设计院集团有限公司 | Operation control system, control method and equipment of mountain track traffic train |
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