CN116902027A

CN116902027A - Control method, device, equipment and medium for skid protection of train

Info

Publication number: CN116902027A
Application number: CN202310892351.7A
Authority: CN
Inventors: 胡荣华; 王亚男; 王晓燕; 徐烨; 刘德伟; 潘亮
Original assignee: Casco Signal Ltd
Current assignee: Casco Signal Ltd
Priority date: 2023-07-20
Filing date: 2023-07-20
Publication date: 2023-10-20
Anticipated expiration: 2043-07-20
Also published as: CN116902027B

Abstract

The invention relates to a control method, a device, equipment and a medium for train skid protection, which are used for monitoring a train braking process in real time through a signal system, automatically identifying that a train enters a skid state and carrying out displacement skid compensation, and carrying out dislocation processing on the train and outputting emergency braking and stopping when the duration time of the train in the skid state exceeds a set threshold value. Compared with the prior art, the invention has the advantages of reducing the influence of the skid of the train on the operation, guaranteeing the operation safety and the like.

Description

Control method, device, equipment and medium for skid protection of train

Technical Field

The present invention relates to a train signal control system, and in particular, to a control method, apparatus, device and medium for protecting a train from skidding.

Background

In rail transit guided by wheel tracks, the braking system of a vehicle is realized by the braking force between the wheel tracks, and when the braking force of the vehicle exceeds the adhesion force between the wheel tracks due to the limitation of the adhesion coefficient between the wheel tracks, the wheels and the track surface slide, which is generally called slipping.

The environment and artificial conditions during train operation are complex and changeable, the adhesion coefficient of a track (especially an open air section and an overhead section) can also change along with the change of factors such as rain and snow weather, temperature and humidity, vehicle oil injection, rail surface pollution, curve curvature and the like, the vehicle slipping easily occurs during braking, the current slipping protection research is mainly focused on slipping prevention research and enters a preset rain and snow mode after slipping, and the slipping model of a train in subsequent operation is adjusted after slipping occurs in a specific environment, so that the slipping probability is reduced, and the first occurrence probability of the slipping is not improved after the environmental conditions change.

The vehicle of urban rail transit is generally not provided with a free shaft, a speed measuring device of a signal system (ATC) is generally arranged on a brake shaft, after the fact that braking skidding occurs, the actual speed of a train is seriously deviated from a speed curve expected by the signal system, train stop mark flushing and train dislocation can frequently occur, other trains are seriously influenced by tracking and line operation, and sometimes even operation interruption is caused, so that the service quality of urban rail transit operation is reduced.

The Chinese patent publication No. CN110271521A is searched to disclose a train anti-skid control method based on a signal system, in particular to detect the rainfall information on a windshield in front of the running of a train and obtain the rainfall data of a single train; according to rainfall data reported by a plurality of trains in each track section, independently calculating a track wet-skid state for each track section by adopting a Kalman filtering method; predicting the achievable braking rate of the train in the current track section and the front track section according to the current slip state of the train, the common braking rate of the train and the track wet slip state of the track section where the train is positioned; and updating an ATO train speed reference curve of the signal system according to the predicted train. However, it is not relevant to achieve slip management to make some tolerance for slip protection, especially by project configuration.

Therefore, the safety is not affected, a certain tolerance is set for the slip fact, the influence of the slip of the train on the operation is reduced, and the technical problem to be solved is solved.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a control method, a device, equipment and a medium for train skid protection.

The aim of the invention can be achieved by the following technical scheme:

according to the first aspect of the invention, a control method for train slip protection is provided, wherein the control method monitors the train braking process in real time through a signal system, automatically recognizes that the train enters a slip state and performs displacement slip compensation, and when the duration of the train in the slip state exceeds a set threshold value, performs out-of-position processing on the train and outputs emergency braking and stopping.

As a preferred technical solution, the method specifically comprises the following steps:

step S1, when a signal system detects that a train is in a braking state, compensating displacement measured in a current period;

step S2, the signal system judges whether the train enters a slipping state, if so, the step S3 is executed, otherwise, the step S2 is continuously executed;

step S3, judging whether the duration time of the train in the slip state is smaller than the slip timeout time, if yes, executing step S4, otherwise, executing step S5;

step S4, judging whether the train meets the slip state exit condition, if so, exiting the slip state, otherwise, returning to the step S3;

and S5, judging that the train slips overtime by the signal system, considering that the train has serious faults, performing out-of-position processing on the fault train and outputting emergency braking and stopping.

As a preferable technical solution, the compensation in step S1 is used to ensure that the train position does not exceed the displacement range estimated by the system even after the slip occurs during the braking process of the train.

As a preferable technical solution, the compensation mode in the step S1 specifically includes:

displacement used by current cycle system software = displacement measured by current cycle odometer x (1 + maximum slip rate in vehicle parameters).

As a preferable technical scheme, the distance that the train actually runs forward is less than (1+maximum slip rate of the vehicle) divided by the distance of the outer wheel Zhou Zhuaiguo of the wheel where the odometer is located.

As an preferable technical solution, the signal system in step S2 judges whether the train enters a slip state, specifically:

and if the average acceleration calculated by the signal system is smaller than the critical acceleration at the beginning of the slip state, the train is considered to enter the slip state, wherein the average acceleration is the average value of the acceleration of the period and the acceleration of the upper period.

As a preferable technical solution, the slip state exit condition in step S4 specifically includes:

the duration of the steady skid state of the train is greater than the skid recovery time, wherein the conditions of the steady skid state of the train are: the critical acceleration at the end of the slip condition is less than the average acceleration calculated by the system is less than the maximum traction acceleration that can be reached on the train line.

As a preferable technical scheme, the critical acceleration at the beginning of the slip state, the critical acceleration at the end of the slip state, the slip recovery time and the slip timeout time are vehicle experience values used in the project.

As a preferable technical scheme, the critical acceleration at the beginning of the slip state, the critical acceleration at the end of the slip state, the slip timeout time and the slip recovery time are all configured according to the line condition and the vehicle performance.

As a preferred solution, the method arranges a parking beacon behind the daily operating parking spot, and performs train repositioning when the train approaches the parking spot.

According to a second aspect of the present invention, there is provided an apparatus for a control method of the train slip prevention, comprising:

the displacement compensation module is used for compensating the displacement measured in the current period when the signal system detects that the train is in a braking state;

the slipping state judging module is used for judging whether the train enters a slipping state or not by the signal system;

the slip state duration judging module is used for judging whether the duration of the train in a slip state is smaller than the slip timeout time;

the slip state exit condition judging module is used for judging whether the train meets the slip state exit condition or not

And the train slip overtime processing module is used for judging that the train slip overtime exists by the signal system, considering the train to be seriously failed, carrying out dislocation processing on the failed train and outputting emergency braking and stopping.

According to a third aspect of the present invention there is provided an electronic device comprising a memory and a processor, the memory having stored thereon a computer program, the processor implementing the method when executing the program.

According to a fourth aspect of the present invention there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the method.

Compared with the prior art, the invention has the following advantages:

1) The invention realizes the real-time supervision of the braking process by the signal system, and has the advantages of carrying out certain tolerance on the slip-making fact under the condition of not affecting the safety, reducing the influence of the slip of the train on the operation and guaranteeing the operation safety;

2) The invention designs the maximum slip rate of the vehicle, the critical acceleration at the beginning of the slip state, the critical acceleration at the end of the slip state and the slip recovery time, thereby further reducing the influence of the slip of the train on the operation;

3) According to the invention, the train in a braking state is subjected to displacement compensation according to the maximum slip rate of the train, so that the train is accurately tracked by the system, and the operation safety is ensured;

4) The invention designs the slip overtime, when the duration of the slip state exceeds the slip overtime, namely, the design performance range of the system is exceeded, the system executes the dislocation processing on the sliding train, thereby realizing the safe tracking processing of the sliding train and the follow-up tracking train and further ensuring the driving safety;

5) According to the invention, the accurate positioning beacon is designed behind the daily operation stop point, so that the probability of the stop mark of the train is reduced.

Drawings

FIG. 1 is a flow chart of a control method of the present invention;

FIG. 2 is a graph of displacement compensation during slip in accordance with the present invention;

FIG. 3 is a schematic illustration of an operating parking spot pinpointing beacon arrangement of the present invention;

fig. 4 is a schematic structural view of the control device of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

As shown in figure 1, the invention provides a control method for train slip protection, when a train brakes, a system compensates train displacement, automatically recognizes that the train enters and exits from a slip state, and under the condition of not affecting safety, certain tolerance is set for slip practice, so that the influence of train slip on operation is reduced, and meanwhile, the operation safety is also ensured.

As shown in fig. 1, the control method of the present invention specifically includes the following steps:

step S1, when a signal system detects that a train is in a braking state currently, the system compensates the displacement measured in the current period in the following way: displacement used by current period system software = displacement measured by current period odometer (1+a); where a is the maximum slip rate among the vehicle parameters. Specifically, the train begins to brake and the system begins to overestimate the train displacement, ensuring that the train is within its estimated protection envelope (TAP) at any time.

S2, when the average acceleration (average value of the acceleration in the period and the acceleration in the period) calculated by the signal system is smaller than the critical acceleration at the beginning of the slip state, the system judges that the train enters the slip state;

s3, the duration time of the train in the slip state is smaller than the slip timeout time, the duration time of the critical acceleration at the end of the slip state < the average acceleration calculated by the system < the maximum traction acceleration which can be achieved by the train on the line is larger than the slip recovery time, and the signal system judges that the train exits the slip state;

and S4, judging that the duration time of the train in the slip state is more than the slip overtime time by the signal system, considering that the train has serious faults by the system, performing out-of-position processing on the fault train, and outputting emergency braking and stopping.

In addition, the method of the invention also has the following concrete implementation processes:

after the train enters a braking state, the signal system compensates the displacement measured in the current period, so that the position of the train is ensured not to exceed the displacement range estimated by the system even if the train slips in the braking process, the dislocation of the operation train is avoided, the safe operation of the train is ensured, and the influence of the slip of the train on the operation is reduced.

In any case, the distance of the actual forward running of the vehicle divided by the distance of the outer part Zhou Zhuaiguo of the wheel where the odometer is positioned is smaller than the maximum slip rate of the (1+vehicle), and the signal system is ensured to compensate the slip so as to meet the running safety of the train.

The critical acceleration at the beginning of the slip state, the critical acceleration at the end of the slip state and the slip recovery time are the vehicle experience values used in the project, so that the trains are prevented from frequently exiting and entering the slip state.

When the duration of the slipping state exceeds the slipping timeout time, the invention indicates that the slipping phenomenon of the train is serious and exceeds the range of the safety control train of the signal system, and the out-of-position train ensures the safe stopping of the slipping train and enlarges the tracking interval between the following train and the slipping train, thereby ensuring the operation safety.

The key parameters (critical acceleration at the beginning of the slip state, critical acceleration at the end of the slip state, slip timeout time and slip recovery time) are all configured according to the line condition and the vehicle performance of the system by projects, so that the flexibility and the usability of the system are improved.

According to the invention, the accurate stop beacon is arranged behind the daily operation stop point, and the train is repositioned when approaching the stop point, so that the train is ensured to stop at the stop point correctly, and the train is prevented from rushing to mark when braking or skidding.

As shown in fig. 2, the system automatically reinitializes the overestimated train displacement in step S1 when the train passes the trackside beacon.

As shown in fig. 3, the present invention arranges a precision parking beacon behind a parking spot:

beacon 1 (distance 70-100 m): starting to apply the brake to stop;

beacon 2 (distance 25-30 m): monitoring the braking process in real time, reinitializing the position, and checking whether the train can stop at a stop point;

beacon 3 (1 m): the calibration is reinitialized for the parking position.

In the parking braking process, the parking process of the train is accurately supervised through repositioning of a plurality of accurate parking beacons, so that the mark flushing of the train during parking is avoided.

The invention has been applied to the company fully autonomous TRANAVI CBTC signal system (hereinafter referred to as CBTC), which is used in 10 urban rail transit lines such as the Shanghai subway No. 17 line, the Taizhou urban railway S1 line, the Zheng Xushi railway and the like, and a control method for protecting the skid of the train is realized, the real-time supervision of the signal system on the braking process is realized, the skid striking fact is tolerated to a certain extent under the condition of not influencing the safety, the influence of the skid of the train on the operation is reduced, and the operation safety of the rail transit is ensured.

The above description of the method embodiments further describes the solution of the present invention by means of device embodiments.

As shown in fig. 4, the apparatus of the present invention for a control method for skid protection of a train according to embodiment 1 includes:

the displacement compensation module 101 is used for compensating the displacement measured in the current period when the signal system detects that the train is in a braking state;

the skid state judging module 102 is used for judging whether the train enters a skid state or not by the signal system;

a slip state duration time judging module 103, configured to judge whether a duration time of the train in a slip state is less than a slip timeout time;

a slip state exit condition judging module 104 for judging whether the train meets the slip state exit condition

And the train slip timeout processing module 105 is used for judging that the train slip is overtime by the signal system, considering that the train is seriously faulty, performing out-of-position processing on the faulty train and outputting emergency braking and stopping.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the described modules may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.

The electronic device of the present invention includes a Central Processing Unit (CPU) that can perform various appropriate actions and processes according to computer program instructions stored in a Read Only Memory (ROM) or computer program instructions loaded from a storage unit into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The CPU, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.

A plurality of components in a device are connected to an I/O interface, comprising: an input unit such as a keyboard, a mouse, etc.; an output unit such as various types of displays, speakers, and the like; a storage unit such as a magnetic disk, an optical disk, or the like; and communication units such as network cards, modems, wireless communication transceivers, and the like. The communication unit allows the device to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processing unit performs the respective methods and processes described above, for example, the methods S1 to S4. For example, in some embodiments, methods S1-S4 may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device via the ROM and/or the communication unit. When the computer program is loaded into RAM and executed by the CPU, one or more steps of the methods S1 to S4 described above may be performed. Alternatively, in other embodiments, the CPU may be configured to perform methods S1-S4 by any other suitable means (e.g., by means of firmware).

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

Program code for carrying out methods of the present invention may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. A control method for the skid protection of train features that the braking process of train is monitored by signal system in real time, the skid state of train is automatically recognized, the displacement skid compensation is carried out, and when the duration of skid state exceeds a set threshold, the train is treated by losing position and emergency braking is output.

2. The method for controlling the skid protection of a train according to claim 1, characterized in that it comprises the following steps:

3. The method according to claim 2, wherein the compensation in step S1 is used to ensure that the train position does not exceed the displacement range estimated by the system during the braking process of the train even if the slip occurs.

4. The method for controlling the skid protection of the train according to claim 2, wherein the compensating mode in the step S1 is specifically as follows:

displacement calculated by current period system software = displacement measured by current period odometer x (1 + maximum slip rate in vehicle parameters).

5. The method of claim 4, wherein the distance the train is actually traveling forward divided by the distance of the outer wheel Zhou Zhuaiguo of the wheel on which the odometer is located is less than (1+ maximum slip rate of the vehicle).

6. The method for controlling the skid protection of the train according to claim 2, wherein the signal system in the step S2 judges whether the train enters the skid state, specifically:

7. The method according to claim 6, wherein the slip state exit condition in step S4 is specifically:

8. The method according to claim 7, wherein the critical acceleration at which the slip state starts, the critical acceleration at which the slip state ends, and the slip recovery time are the vehicle experience values for the project.

9. The method according to claim 7, wherein the critical acceleration at which the slip state starts, the critical acceleration at which the slip state ends, the slip timeout time, and the slip recovery time are all configured according to the line condition and the vehicle performance.

10. A control method for train slip protection according to claim 1, characterized in that the method is arranged with a parking beacon behind the usual operating parking spot, and that the train is repositioned when the train approaches the parking spot.

11. An apparatus for the control method of the skid guard of the train as set forth in any one of claims 1 to 10, comprising:

the slip state exit condition judging module is used for judging whether the train meets the slip state exit condition or not;

12. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the processor, when executing the program, implements the method of any of claims 1-10.

13. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1-10.