CN115465335A - Method and system for controlling train to be automatically connected at one time by self-adaptive signal system - Google Patents
Method and system for controlling train to be automatically connected at one time by self-adaptive signal system Download PDFInfo
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- CN115465335A CN115465335A CN202211078403.9A CN202211078403A CN115465335A CN 115465335 A CN115465335 A CN 115465335A CN 202211078403 A CN202211078403 A CN 202211078403A CN 115465335 A CN115465335 A CN 115465335A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000013475 authorization Methods 0.000 claims abstract description 32
- 238000010168 coupling process Methods 0.000 claims abstract description 28
- 230000008878 coupling Effects 0.000 claims abstract description 26
- 238000005859 coupling reaction Methods 0.000 claims abstract description 26
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- B61L27/40—Handling position reports or trackside vehicle data
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Abstract
The invention discloses a method and a system for controlling a train to be automatically connected and hung at one time by a self-adaptive signal system, belonging to the technical field of rail transit, wherein the method for automatically connecting and hanging the train comprises the following steps: the connected trailer A stops at a parking point of the connected trailer; after the linked vehicle A is stably stopped, the vehicle-mounted CC of the linked vehicle B extends the authorization end point of the movement authorization information received from the trackside ZC to the position of the tail of the linked vehicle A and increases the position considering the protection distance, and calculates a vehicle control curve by taking the position of the tail of the linked vehicle A as a target parking point; and the vehicle-mounted CC of the trailer B controls the trailer B and the trailer A to be automatically linked in a one-time continuous braking mode according to the vehicle control curve. The invention can realize one-time automatic coupling, thereby omitting the process of one-time parking and reducing the coupling operation time.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to an automatic train coupling method.
Background
In the existing urban rail transit, the automatic on-line coupling operation is that a signal system controls a train to stop once when the train is away from a front coupled train by a certain distance, and then the signal system automatically controls the train to be coupled at a fixed speed after the train is started again according to a coupling command sent by a central ATS.
In the prior art, the trailer needs to be stopped for one time at first, then the signal system automatically controls the train to be connected and hung in front at a fixed speed after the train is started again according to a connection command sent by a central ATS, the time consumption of the connection and hanging operation is long, and when the signal system controls the trailer to be connected and hung in front at a fixed speed, the impact force is large, the experience of people on the trailer and the connected trailer is poor, and the personnel on the train can be fallen down and collided with the impact force to be injured seriously, so that the safety of the personnel on the train is affected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a method for controlling the train to be automatically connected and hung at one time by a self-adaptive signal system, so that the connection operation time is shortened, and the generation of larger impact force caused by connection is avoided.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for controlling a train to be automatically connected at one time by a self-adaptive signal system comprises the following steps:
the connected trailer A stops at a parking point of the connected trailer;
after the linked vehicle A is stably stopped, the vehicle-mounted CC of the linked vehicle B extends the authorization end point of the movement authorization information received from the trackside ZC to the position of the tail of the linked vehicle A and increases the position considering the protection distance, and calculates a vehicle control curve by taking the position of the tail of the linked vehicle A as a target parking point; and the vehicle-mounted CC of the trailer B controls the trailer B and the trailer A to be automatically connected in a one-time continuous braking mode according to the vehicle control curve.
Preferably, the CC on the trailer a automatically controls the trailer to drive into the hitching area according to the operation plan issued by the central ATS and the movement authorization information sent by the trackside ZC, and automatically controls the trailer to stop at the parking spot of the trailer in combination with the trackside beacon of the hitching area.
Preferably, the central ATS manually issues the coupling instructions to the coupling vehicle B according to a schedule plan or a dispatcher according to operation needs and arranges the coupling instructions to an access road of the coupling area, and the vehicle-mounted CC of the coupling vehicle B controls the train to drive to the coupling area according to the movement authorization.
Preferably, after the vehicle-mounted CC of the trailer B receives the position information and the stable-parking state information of the front trailer A fed back by the trackside ZC, whether the front trailer A is stably parked or not is judged.
Preferably, if the front hitched vehicle is not stopped, the vehicle CC of the hitched vehicle B controls the train to operate according to the movement authorization information sent by the trackside ZC.
Preferably, in the process that the vehicle-mounted CC of the trailer B controls the trailer B and the connected trailer A to automatically connect and hang according to a train control curve, the train control curve is dynamically adjusted in real time according to the current position of the trailer B and the distance between the current position of the trailer B and the tail position of the front connected trailer A, the control size of traction/braking quantity is calculated and adjusted in real time through closed-loop speed control, and the advance speed after the delay time is calculated according to the current acceleration and speed information of a train and the traction braking delay time of the train;
and the vehicle-mounted CC of the trailer B adjusts the speed value according to the distance to the tail position of the front trailer A and the advance speed compensation value, so that the automatic coupling between the trailer B and the trailer A is completed when the speed of the trailer B is zero.
On the other hand, the invention also provides a self-adaptive signal system for controlling the train one-time automatic coupling system, which comprises the following components:
the method comprises the steps that a trailer B vehicle-mounted CC receives a hitching command, applies for hitched information from a trackside ZC, automatically controls the train to run according to movement authorization information provided by the trackside ZC, if the front connected trailer is parked stably and the tail position of the front connected trailer A is acquired from the trackside ZC, the trailer B vehicle-mounted CC prolongs an authorization terminal point of the movement authorization information received from the trackside ZC to a position where the tail position of the connected trailer A is increased by considering a protection distance, takes the tail position of the connected trailer A as a target parking point, calculates a trailer control curve, and controls the connected trailer B and the connected trailer A to be automatically hitched in a one-time continuous braking mode according to the trailer control curve;
the central ATS issues a coupling instruction to the coupling vehicle B and arranges the coupling instruction to an entrance of a coupling area;
and the trackside ZC provides moving authorization information to the vehicle CC of the trailer B and feeds back the position information and the stability stopping state information of the front trailer A to the vehicle CC of the trailer B.
Preferably, the system also comprises a connected trailer A vehicle-mounted CC, the connected trailer A vehicle-mounted CC automatically controls the connected trailer to drive into the connected region, and the connected trailer A is automatically controlled to stop at the connected vehicle stopping point by combining with a trackside beacon of the connected region.
According to the technical scheme, the vehicle-mounted CC of the trailer B calculates a vehicle control curve, and the trailer B and the trailer A are controlled to be automatically linked in a one-time continuous braking mode according to the vehicle control curve. Therefore, the following beneficial effects are achieved:
1. the automatic continuous hanging can be realized at one time, so that the one-time parking process is saved, and the continuous hanging operation time is reduced;
2. the continuous trailer and the connected trailer can be controlled to be connected and hung in a one-time continuous braking mode, so that the impact force during the connection and hanging is reduced, and no impact force exists when the connected trailer and the connected trailer are connected and hung in an ideal state;
3. the whole process is controlled by a signal system, so that driver intervention is not needed, the operation amount of the driver is reduced, and the problem caused by possible operation errors of the driver is avoided.
The following detailed description and the accompanying drawings are included to provide a further understanding of the invention.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
FIG. 1 is a schematic diagram of a process of automatically controlling one-time train connection by a signal system;
fig. 2 is a diagram of information interaction of a signal system for automatically controlling one-time train connection.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all of them. Other embodiments obtained by persons skilled in the art without making creative efforts based on the embodiments in the implementation belong to the protection scope of the invention.
Example one
With reference to fig. 1 and 2, in a method for controlling a train to automatically couple at one time by an adaptive signal system, a coupled train a stops at a coupled train stop; when the linked vehicle A is stably stopped, the vehicle-mounted CC of the linked vehicle B extends the authorization terminal point of the mobile authorization information received from the trackside ZC to the position of the tail of the linked vehicle A and increases the position considering the protection distance, the position of the tail of the linked vehicle A is used as a target stopping point, and a vehicle control curve is calculated; and the vehicle-mounted CC of the trailer B controls the trailer B and the trailer A to be automatically linked in a one-time continuous braking mode according to the vehicle control curve.
The whole process of the method for controlling the train to be automatically connected at one time by the self-adaptive signal system is as follows:
the method comprises the following steps: the method comprises the steps that a vehicle-mounted CC of a linked trailer A automatically controls the linked trailer to drive into a linked area according to an operation plan issued by a central ATS and mobile authorization information sent by a trackside ZC, and automatically controls the linked trailer to stop at a parking point of the linked trailer by combining a trackside beacon of the linked area;
step two: the central ATS manually issues coupling instructions to the trailer B according to a schedule plan or a dispatcher according to operation needs and arranges the coupling instructions to a route of a coupling area, and the vehicle-mounted CC of the trailer B controls the train to drive to the coupling area according to mobile authorization;
step three: after receiving the linking command, the vehicle-mounted CC of the linked trailer B applies linked trailer information including position information and stability stop state information of the linked trailer to the trackside ZC and automatically controls the train to run according to the moving authorization information provided by the trackside ZC;
step four: after receiving a linked vehicle information request of a vehicle-mounted CC of a linked vehicle B, a trackside ZC feeds back position information and stable stopping state information of a front linked vehicle to the vehicle-mounted CC of the linked vehicle B;
step five: after receiving the position information and the stability stopping state information of the front hitched vehicle fed back by the trackside ZC, the vehicle-mounted CC of the trailer B judges whether the front hitched vehicle is stable, and if the front hitched vehicle is not stable, the vehicle-mounted CC of the trailer B controls the train to run according to the movement authorization information sent by the trackside ZC; if the front connected trailer is stably stopped and the position of the tail of the front connected trailer A is acquired from the trackside ZC, the vehicle-mounted CC of the connected trailer B extends the authorization end point of the movement authorization information received from the trackside ZC to the position of the tail of the connected trailer A, which is increased by considering the protection distance, and the position of the tail of the connected trailer A is used as a target stopping point to calculate a vehicle control curve, and the vehicle-mounted CC of the connected trailer B controls the connected trailer B and the connected trailer A to be automatically connected in a one-time continuous braking mode according to the vehicle control curve;
step six: dynamically adjusting a train control curve in real time by the vehicle-mounted CC of the trailer B according to the current train position and the distance between the current train position and the tail position of the front trailer A of the trailer A, calculating and adjusting the control size of traction/braking quantity in real time through closed-loop speed control, and calculating the advance speed after the delay time according to the current acceleration and speed information of the train and the traction braking delay time of the train;
step seven: and the vehicle-mounted CC of the trailer B adjusts the speed value according to the distance to the tail position of the front trailer A and the advance speed compensation value, and ensures that the trailer B finishes automatic coupling when the speed is zero and the trailer A finishes automatic coupling.
Example two
An adaptive signal system control train one-time automatic coupling system, comprising:
the trailer A is automatically controlled to drive into the hitching area by the vehicle CC of the trailer A, and the trailer A is automatically controlled to stop at a parking point of the trailer A by combining a trackside beacon of the hitching area;
the method comprises the steps that a trailer B vehicle-mounted CC receives a hitching command, applies for hitched information from a trackside ZC, automatically controls the train to run according to movement authorization information provided by the trackside ZC, if the front connected trailer is parked stably and the tail position of the front connected trailer A is acquired from the trackside ZC, the trailer B vehicle-mounted CC prolongs an authorization terminal point of the movement authorization information received from the trackside ZC to a position where the tail position of the connected trailer A is increased by considering a protection distance, takes the tail position of the connected trailer A as a target parking point, calculates a trailer control curve, and controls the connected trailer B and the connected trailer A to be automatically hitched in a one-time continuous braking mode according to the trailer control curve;
the central ATS issues a linking instruction to the linked vehicle B and arranges the linking instruction to an access of a linking area;
and the trackside ZC provides moving authorization information to the vehicle CC of the trailer B and feeds back the position information and the stability stopping state information of the front trailer A to the vehicle CC of the trailer B.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the present invention may be practiced without limitation to such specific embodiments. Any modifications which do not depart from the functional and structural principles of the present invention are intended to be included within the scope of the claims.
Claims (8)
1. A method for controlling train one-time automatic coupling by a self-adaptive signal system is characterized by comprising the following steps:
the connected trailer A stops at a parking point of the connected trailer;
after the linked vehicle A is stably stopped, the vehicle-mounted CC of the linked vehicle B extends the authorization end point of the movement authorization information received from the trackside ZC to the position of the tail of the linked vehicle A and increases the position considering the protection distance, and calculates a vehicle control curve by taking the position of the tail of the linked vehicle A as a target parking point; and the vehicle-mounted CC of the trailer B controls the trailer B and the trailer A to be automatically connected in a one-time continuous braking mode according to the vehicle control curve.
2. The adaptive signaling system controlled train one-time automatic hitching method as claimed in claim 1, wherein the connected trailer A onboard CC automatically controls the connected trailer to drive into the hitching area according to the operation plan issued by the central ATS and the mobile authorization information sent by the trackside ZC, and automatically controls the connected trailer to stop at the hitching stop point in combination with the trackside beacon of the hitching area.
3. The method for one-time automatic train connection through the adaptive signal system as claimed in claim 1, wherein the central ATS manually issues connection instructions to the trailer B according to a schedule plan or a dispatcher according to operation requirements and arranges the connection instructions to a route of the connection area, and the vehicle-mounted CC of the trailer B controls the train to run to the connection area according to mobile authorization.
4. The method for controlling the train to automatically couple at a time according to the self-adaptive signal system as claimed in claim 1, wherein the CC of the trailer B determines whether the trailer a is in a stable state or not after receiving the position information and the stable state information of the trailer a fed back by the ZC at the side of the track.
5. The adaptive signaling system controlled train one-time automatic coupling method as claimed in claim 4, wherein if the front coupled train is not stationary, the CC on board B controls the train operation according to the movement authorization information sent by the ZC on the trackside.
6. The method for controlling the train to automatically couple at one time by the self-adaptive signal system according to claim 1, wherein in the process that the vehicle-mounted CC of the trailer B controls the trailer B and the trailer A to automatically couple according to the train control curve, the train control curve is dynamically adjusted in real time according to the current position of the trailer B and the distance between the current position of the trailer B and the tail position of the front trailer A, the control size of traction/braking capacity is calculated and adjusted in real time through closed-loop speed control, and the advance speed after the delay time is calculated according to the current acceleration and speed information of the train and the traction braking delay time of the train;
and the vehicle-mounted CC of the trailer B adjusts the speed value according to the distance to the tail position of the front trailer A and the advance speed compensation value, so that the automatic coupling between the trailer B and the trailer A is completed when the speed of the trailer B is zero.
7. An adaptive signal system for controlling a train primary automatic coupling system is characterized by comprising: the method comprises the following steps that a trailer B vehicle-mounted CC (vehicle-mounted CC) is connected with a trailer B, after the trailer B vehicle-mounted CC receives a connection command, the trailer B vehicle-mounted CC applies for connected trailer information to a trackside ZC, and automatically controls the train to run according to movement authorization information provided by the trackside ZC, if the front connected trailer is stopped stably and the tail position of the front connected trailer A is obtained from the trackside ZC, the trailer B vehicle-mounted CC prolongs an authorization terminal point of the movement authorization information received from the trackside ZC to a position where the tail position of the connected trailer A is increased by considering a protection distance, the tail position of the connected trailer A is used as a target stopping point, a vehicle control curve is calculated, and the trailer B vehicle-mounted CC controls the connected trailer B and the connected trailer A to be automatically connected in a one-time continuous braking mode according to the vehicle control curve;
the central ATS issues a linking instruction to the linked vehicle B and arranges the linking instruction to an access of a linking area;
and the trackside ZC provides mobile authorization information to the vehicle-mounted CC of the trailer B and feeds back the position information and the stable parking state information of the front trailer A to the vehicle-mounted CC of the trailer B.
8. The adaptive signaling system controlled train one-time automatic hitching system of claim 7 further comprising a hitched train A onboard CC which automatically controls the hitched train to move into the hitching area and which, in conjunction with the trackside beacons of the hitching area, automatically controls the hitched train A to stop at the hitched train stopping point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211078403.9A CN115465335A (en) | 2022-09-05 | 2022-09-05 | Method and system for controlling train to be automatically connected at one time by self-adaptive signal system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211078403.9A CN115465335A (en) | 2022-09-05 | 2022-09-05 | Method and system for controlling train to be automatically connected at one time by self-adaptive signal system |
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| CN113320571A (en) * | 2021-06-09 | 2021-08-31 | 中国国家铁路集团有限公司 | Intelligent coupling control method for railway plane shunting |
| US20220055672A1 (en) * | 2020-08-24 | 2022-02-24 | Beijing Jiaotong University | Method and device for cooperative control of multiple trains |
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- 2022-09-05 CN CN202211078403.9A patent/CN115465335A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874008A (en) * | 2020-05-26 | 2020-11-03 | 卡斯柯信号有限公司 | Method for realizing flexible grouping operation of urban rail transit |
| US20220055672A1 (en) * | 2020-08-24 | 2022-02-24 | Beijing Jiaotong University | Method and device for cooperative control of multiple trains |
| CN112429017A (en) * | 2020-11-10 | 2021-03-02 | 卡斯柯信号有限公司 | Train linkage control method in area controller based on single-train automatic protection |
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| Title |
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