CN117141438A

CN117141438A - Train electromechanical braking system, braking control method and electronic equipment

Info

Publication number: CN117141438A
Application number: CN202311094671.4A
Authority: CN
Inventors: 王立娟; 夏夕盛; 李文桥; 范小兵
Original assignee: Mita Box Technology Co ltd
Current assignee: Mita Box Technology Co ltd
Priority date: 2023-08-28
Filing date: 2023-08-28
Publication date: 2023-12-01

Abstract

The invention provides a train electromechanical braking system, a braking control method and electronic equipment, which belong to the technical field of rail transit, wherein the system comprises a train-level braking control integrated platform, a braking motor control unit BMC and a braking clamp unit BEC; the train-level brake control integrated platform is provided with a brake control application software system BCU_APP; the BMC is connected with the BEC through a torque motor; the BCU_APP is used for outputting a brake control instruction and determining a braking force required value of each bogie axle of the train based on the current running condition of the train; the BMC is used for responding to the braking control instruction and controlling the moment motor to operate according to the braking force requirement value of each bogie axle; the BEC is used for controlling the braking clamp corresponding to each bogie axle to act under the driving action of the torque motor so as to enable the train to enter a braking state. The invention can realize the electromechanical braking function of the train.

Description

Train electromechanical braking system, braking control method and electronic equipment

Technical Field

The invention relates to the technical field of rail transit, in particular to a train electromechanical braking system, a braking control method and electronic equipment.

Background

The electromechanical braking (Electromechanical Brake, EMB) technology is a novel friction braking technology which outputs linear motion through a motor-driven mechanical transmission mechanism, realizes clamping action of a braking friction pair and outputs controllable power. After the motor controller obtains a braking instruction, the motor is controlled to rotate, the motor converts the rotary motion into linear motion of an output shaft through a motion conversion mechanism, and the output shaft finally acts on the clamping unit to realize clamping braking.

The EMB technology realizes full electrification from instruction issuing and energy transmission to braking execution, and has remarkable advantages in the aspects of light weight, braking performance, energy consumption, full life cycle LCC cost and the like. Energy conservation, environmental protection, cost reduction and efficiency enhancement are all global main melodies, and the research and development of an EMB system are imperative.

However, at present, there is little research on application of the EMB technology in the field of rail transit, how to implement the electromechanical braking function of the train, and it has important significance for the future sustainable development of the rail transit industry.

Disclosure of Invention

The invention provides a train electromechanical braking system, a braking control method and electronic equipment, which are used for realizing the electromechanical braking function of a train.

The invention provides a train electromechanical braking system, comprising:

the system comprises a train-level brake control integrated platform, a brake motor control unit BMC and a brake clamp unit BEC; the train-level brake control integrated platform is provided with a brake control application software system BCU_APP; the brake motor control unit BMC is connected with the brake clamp unit BEC through a torque motor;

the brake control application software system BCU_APP is used for outputting a brake control instruction and determining a braking force required value of each bogie axle of the train based on the current running condition of the train;

the braking motor control unit BMC is used for responding to the braking control instruction and controlling the moment motor to run according to the braking force required value of each bogie axle;

the brake clamp unit BEC is used for controlling the brake clamp corresponding to each bogie axle to act under the driving action of the torque motor, so that the train enters a braking state.

According to the train electromechanical braking system provided by the invention, the train-level braking control integrated platform further comprises a remote input/output module RIOM;

the remote input/output module RIOM and the brake motor control unit BMC are in data communication based on TRDP real-time protocol of a TSN network;

The brake motor control unit BMC is also used for acquiring an emergency brake hard line instruction, and determining the maximum emergency braking force of the train according to a pre-stored emergency braking curve under the condition that the emergency brake hard line is enabled, so that the brake clamp unit BEC brakes according to the maximum emergency braking force until the train stops;

the remote input/output module RIOM is used for sending a TRDP control instruction to the brake motor control unit BMC under the condition that the train is at zero speed and the emergency brake hard line is not enabled so as to release the emergency brake state of the train.

The invention also provides a braking control method applied to the train electromechanical braking system, which comprises the following steps:

the train control and management system TCMS responds to a first braking instruction input by a user, and determines a total braking force required by the train according to preset deceleration and train load;

the train control and management system TCMS transmits the total required braking force value required by the train and the electric braking force of each bogie of the train to a brake control application software system BCU_APP; the electric braking force of each bogie is determined based on the total required braking force value of the train;

The brake control application software system BCU_APP determines the friction brake compensation quantity of each bogie axle according to the total required braking force value required by the train and the electric braking force of each bogie of the train so as to determine the required braking force value of the axle on each bogie;

and the brake control application software system BCU_APP sends the braking force demand value of the axles on each bogie to a brake motor control unit BMC, and the brake motor control unit BMC applies braking to the axles on each bogie according to the braking force demand value of the axles on each bogie until the train stops.

According to the braking control method of the train electromechanical braking system provided by the invention, the method further comprises the following steps:

in the case that the train is stopped, the train control and management system TCMS responds to a second braking instruction input by a user and sends the second braking instruction to the braking control application software system BCU_APP;

after receiving the second braking instruction, the brake control application software system BCU_APP calculates a parking braking force demand value of the train and sends the parking braking force demand value to the brake motor control unit BMC;

The brake motor control unit BMC controls the brake caliper unit BEC to perform a parking brake mechanical action according to the parking brake force demand value.

According to the braking control method of the train electromechanical braking system provided by the invention, the braking motor control unit BMC controls the braking clamp unit BEC to execute the parking braking mechanical action according to the parking braking force demand value, and the braking control method comprises the following steps:

the brake motor control unit BMC controls the braking force applied to the brake caliper unit BEC according to the parking braking force required value, and acquires pressure data fed back by the brake caliper unit BEC to determine that the braking force applied to the brake caliper unit BEC reaches the parking braking force required value;

the brake control application software system bcu_app sends a parking brake command to the brake motor control unit BMC, so that the brake motor control unit BMC applies a braking force to the brake caliper unit BEC according to the parking brake command and controls the brake caliper unit BEC to execute a parking brake mechanical action.

And under the condition that the brake control application software system BCU_APP and the brake motor control unit BMC are detected to lose communication connection, or the brake motor control unit BMC is detected to lose communication connection with the brake control application software system BCU_APP and the remote input/output module RIOM, the brake motor control unit BMC keeps a brake release state and does not apply braking force to the brake clamp unit BEC.

and under the condition that the brake motor control unit BMC is detected to be in a lost fault state, the brake control application software system BCU_APP sends the lost fault state to a train control and management system TCMS so as to display corresponding fault alarm information at the front end.

The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the braking control method of the train electromechanical braking system.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a brake control method of a train electromechanical brake system as described in any of the above.

The invention also provides a computer program product comprising a computer program which when executed by a processor implements a brake control method of an electromechanical brake system of a train as described in any of the above.

According to the train electromechanical braking system, the braking control method and the electronic equipment, the system architecture of the braking control application software system BCU_APP, the braking motor control unit BMC and the braking clamp unit BEC is utilized, the BMC is connected with the BEC through the torque motor, the BCU_APP outputs a braking control instruction, the braking force required value of each bogie axle of the train is determined based on the current running condition of the train, the BMC controls the torque motor to run according to the braking force required value of each bogie axle under the braking control instruction, the braking clamp unit BEC is driven to act, and the braking clamp corresponding to each bogie axle is controlled to act, so that the train enters a braking state, the electromechanical braking function of the train is effectively realized, the integrated platform system control architecture of the electromechanical braking of the train is realized through the integrated combination of software and hardware, and the reliability and safety of the operation under the train braking mode are greatly improved.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a train electromechanical brake system provided by the present invention;

FIG. 2 is a schematic flow chart of a braking control method of the electromechanical braking system of the train provided by the invention;

FIG. 3 is a second schematic flow chart of a braking control method of the electromechanical braking system of the train provided by the invention;

FIG. 4 is a third schematic flow chart of a braking control method of the electromechanical braking system of the train according to the present invention;

fig. 5 is a schematic diagram of the physical structure of the electronic device provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The electromechanical brake system, brake control method, and electronic device of the present invention for a train are described below with reference to fig. 1-5.

Fig. 1 is a schematic structural diagram of an electromechanical braking system for a train according to the present invention, as shown in fig. 1, including:

a train-level brake control integrated platform 1, a brake motor control unit BMC 2 and a brake caliper unit BEC 3; the train-level brake control integrated platform 1 is provided with a brake control application software system BCU_APP 4; the brake motor control unit BMC 2 is connected with the brake clamp unit BEC 3 through the torque motor 5;

the brake control application software system BCU_APP 4 is used for outputting a brake control instruction and determining a braking force requirement value of each bogie axle of the train based on the current running condition of the train;

The brake motor control unit BMC 3 is used for responding to a brake control instruction and controlling the moment motor 5 to operate according to the braking force requirement value of each bogie axle;

the brake caliper unit BEC 3 is used for controlling the brake caliper corresponding to each bogie axle to act under the driving action of the torque motor 5, so that the train enters a braking state.

Specifically, in the embodiment of the invention, in the train electromechanical braking system, a train-level braking control integrated platform is constructed, and the integrated platform adopts a backbone network communication architecture based on a Time sensitive network (Time-Sensitive Network, TSN) dual-ring network, can meet the safety communication requirement of electromechanical braking, and is used for hard wire I/O control, speed acquisition, wheel diameter calculation and emergency traction mode braking related functions.

The train-level brake control integrated platform is installed with a brake control (Brake Control Unit, BCU) application software system bcu_app for implementing the communication controller (Communication Control Unit, CCU) function of the integrated platform. In the specific implementation process, the BCU_APP can be deployed in CCU processors distributed by integrated platforms at the head end and the tail end of a train, is responsible for braking force distribution and logic control related instructions of the whole train, and has functions similar to gateway valve units of a traditional air brake system; the brake motor control unit (Brake Mechanical Controller, BMC) is responsible for local brake force execution control, and responds to a brake control command of the bcu_app to execute a related control action, similar to the conventional intelligent valve related function implementation. The brake caliper units (Brake Electrical Caliper unit, BEC) are mechanical execution units and can be end mechanisms which are composed of torque motors, screw nuts, bearings, weighing sensors, temperature sensors, clutches, mechanical clamps and other parts and used for realizing braking force application and release.

Alternatively, the brake motor control unit BMC may include:

the device comprises a core processing unit, a storage circuit, a force sensor detection circuit, a speed detection circuit, a motor temperature detection circuit, a clutch control circuit and a motor driving circuit.

In the embodiment of the invention, when a train brakes, the TCMS transmits an acquired braking control command to the BCU_APP, so that the BCU_APP outputs the braking control command, the BCU_APP calculates the braking force requirement value of each bogie axle of the train according to the current running condition of the train, then the braking control command and the determined braking force requirement value of each bogie axle are transmitted to the BMC, the BMC responds to the braking control command, controls a torque motor to run according to the braking force requirement value of each bogie axle, drives the BEC to run, and under the driving action of the torque motor, the BEC controls the braking clamp action corresponding to each bogie axle of the train to enable the train to enter a braking state.

According to the train electromechanical braking system, the system architecture of the brake control application software system BCU_APP, the brake motor control unit BMC and the brake clamp unit BEC is utilized, the BMC is connected with the BEC through the torque motor, the BCU_APP outputs a brake control instruction, the brake force required value of each bogie axle of the train is determined based on the current running condition of the train, the BMC controls the torque motor to run according to the brake force required value of each bogie axle under the brake control instruction, so that the brake clamp unit BEC is driven to act, and the brake clamp corresponding to each bogie axle is controlled to act, so that the train enters a braking state, the electromechanical braking function of the train is effectively realized, the integrated platform system control architecture of the electromechanical braking of the train is realized through the integrated combination of software and hardware, and the reliability and safety of the operation under a train braking mode are greatly improved.

In the embodiment of the invention, the train-level brake control integrated platform is integrated with the brake motor control unit BMC by adopting a TSN communication backbone network, and an independent brake system intranet is not arranged.

Based on the foregoing embodiments, as an optional embodiment, the integrated train-level brake control platform further includes a remote input/output module RIOM;

the remote input/output module RIOM and the brake motor control unit BMC are in data communication based on a Train Real-time data protocol (TRDP) of a TSN network;

the brake motor control unit BMC is also used for acquiring an emergency brake hard line instruction, and determining the maximum emergency braking force of the train according to a pre-stored emergency braking curve under the condition of enabling the emergency brake hard line, so that the brake clamp unit BEC brakes according to the maximum emergency braking force until the train stops;

Specifically, in the embodiment of the invention, the train electromechanical brake system is mainly controlled by adopting a TSN network, and a hard wire is coded for standby (except for an emergency traction signal, the emergency traction hard wire is preferential, and no emergency traction instruction exists in the network signal). The RIOM module is embedded in the train-level brake control integrated platform, and the RIOM function comprises: the method comprises the following steps of (1) speed acquisition and wheel diameter verification; (2) bcu_app all DI acquisition and DO output; RIOM unifies the hard wire that gathers the braking system when promptly pulling needs to generate control command and send to BMC. (RIOM bears the function by the integrated platform, the electromechanical braking system receives and responds to the instruction and the speed measurement information of response can be achieved).

In the embodiment of the invention, data communication can be performed between the BCU_APP and the BMC and between the RIOM and the BMC through TRDP real-time protocol based on TSN network; the BMC unit can directly collect emergency braking hard line signals, and high safety level of an emergency braking function is guaranteed.

Specifically, bcu_app employs XML as a configuration file to support flexible adaptation to multiple consist trains; in a network vehicle control mode, the BMC receives a TRDP control instruction of the BCU_APP and RIOM and shared speed measurement information, and uploads BMC state feedback information to the BCU_APP through a TRDP channel; the BMC unit receives and responds to TRDP control instructions of RIOM and shared speed measurement information in an emergency traction hard-wire drive mode, and preferentially collects control commands of BCU_APP under the condition that the control information of BCU_APP is effective.

In the embodiment of the invention, the BMC has the capability of directly acquiring the emergency braking hard line instruction, so that the BMC preferentially acquires the RIOM network control instruction under the condition that the RIOM TRDP network control instruction is effective, otherwise, directly acquires the emergency braking hard line instruction, and applies the maximum emergency braking force according to the emergency braking curve stored in the BMC when the emergency braking hard line is enabled until the train stops. When the train is at zero speed, the emergency braking hard line is changed from enabling to disabling, if a TRDP network control instruction of the effective RIOM is received, the network control instruction is collected, so that a driver controls the train to release the emergency braking state of the train.

According to the system provided by the embodiment of the invention, the safety control on the emergency braking of the train can be effectively realized aiming at different communication scenes by setting the multi-stage instruction acquisition logic between the braking motor control unit BMC and RIOM and BCU_APP.

The following describes a braking control method of the electromechanical braking system of the train, and the braking control method of the electromechanical braking system of the train and the embodiment of the electromechanical braking system of the train described below can be referred to correspondingly.

In the embodiment of the invention, a train electromechanical braking system adopts a framework design mode of deep fusion with an integrated platform, and the BCU_APP is responsible for relevant functional logic realization of the whole train, including service braking, quick braking, holding braking, parking braking, fault isolation, load adjustment, impulse limitation, friction braking matching compensation, fault diagnosis, data recording, rescue and return, braking heavy fault, configurable emergency braking and the like; the BMC is responsible for the functions of brake clamp pressure control, anti-skid detection and control, emergency brake application/release, parking brake application, data acquisition and recording and the like; the TCMS is responsible for electromechanical braking joint control, braking control instruction source output, fault recording and the like; RIOM in the integrated platform is responsible for hard wire I/O control, speed acquisition and wheel diameter calculation, hard wire information output related to an emergency traction mode and the like.

Fig. 2 is a schematic flow chart of a braking control method of a train electromechanical braking system according to the present invention, which can be applied to the train electromechanical braking system described above, as shown in fig. 2, and the method includes: step 210, step 220, step 230 and step 240.

Step 210, the train control and management system TCMS responds to a first braking instruction input by a user, and determines a total required braking force value required by the train according to a preset deceleration and a train load;

step 220, the train control and management system TCMS transmits the total braking force required by the train and the electric braking force of each bogie of the train to the brake control application software system bcu_app; the electric braking force of each bogie is determined based on the total required braking force value of the train;

step 230, the brake control application software system BCU_APP determines the friction brake compensation quantity of each bogie axle according to the total required braking force value required by the train and the electric braking force of each bogie of the train so as to determine the required braking force value of each bogie axle;

in step 240, the brake control application software system bcu_app sends the braking force demand value of the axle on each bogie to the brake motor control unit BMC, and the brake motor control unit BMC applies the brake to the axle on each bogie according to the braking force demand value of the axle on each bogie until the train stops.

The braking control method of the train electromechanical braking system described in this embodiment can be applied to the embodiment of the train electromechanical braking system described above, and its principle and technical effects are similar.

Specifically, in the embodiment of the invention, the train electromechanical brake system adopts a TSN data transmission network, a RIOM hard wire acquisition unit and an SDU sharing speed measurement unit of an integrated platform, so that instruction information interaction of the BCU_APP and the BMC unit is realized, the communication of the BCU_APP and the BMC unit adopts a real-time TRDP protocol, and the communication period is 30ms. The BCU_APP adopts an XML configuration file to realize flexible control of the BMC multi-configuration unit. The hard line acquisition information and the shared speed measurement information of the electromechanical braking system are realized by a RIOM unit of the integrated platform, and two TRDP data packets of the TSN network are transmitted to a BMC unit for realizing the vehicle control logic in an emergency traction mode.

The emergency braking hard line information is collected by RIOM, and can also be directly collected by BMC to realize the high security level demand of emergency braking. The BMC can preferentially collect the network signals, collect the hard line information of self-collection when the network signals are abnormal, and start emergency braking control until the train is braked.

The first braking command described in embodiments of the present invention may include a service braking command and a quick braking command.

The preset deceleration described in the embodiment of the present invention may be classified into a preset deceleration under service braking and a preset deceleration under quick braking according to the braking modes.

The braking force total demand values described in the embodiments of the invention include an electric braking force total demand value and a mechanical braking force total demand value.

When the train is subjected to service braking, the head car CCU receives a braking instruction and calculates target deceleration, the load of each bogie is obtained through an air pressure sensor, and the braking force required by the whole train is calculated by combining other parameters. The coordination control of electric braking and friction braking is carried out according to the electric braking priority principle, the required friction braking force is distributed, and each electromechanical braking clamp unit BEC is controlled to apply braking through a braking motor control unit BMC on each shaft. The service brake has impulse limiting and anti-slip functions.

Regarding the impulse limiting function, when the brake control device receives a "step" brake command signal, it is possible to output a braking force in a "ramp-up" manner to ensure the comfort of the passenger riding. In order to ensure riding comfort for passengers, the speed of rising and falling of braking force is controlled during braking or relieving. The function can smooth the output of braking force, ensure that the longitudinal impulse of the train is not more than 0.75m/s3, and improve the riding comfort of passengers. BCU_APP can carry out impulse limiting protection on braking force issued to each shaft control unit; the BMC unit automatically performs impulse limiting protection processing in an emergency traction mode and an emergency braking mode. The BMC unit also has impulse limiting requirements in the mechanical braking force output link after skid resistance.

Regarding the anti-skid function, the train electromechanical brake system performs skid detection and control based on criteria such as speed difference, deceleration, slip rate and the like, and adopts a shaft control mode during skid prevention, and a brake control device executes a program of 'force reduction', 'holding', 'force increase' according to a set mode after judging that a skid state occurs, so that the output force of a brake execution unit is reduced, held and recovered. The anti-skid control algorithm adopts a modularized design and is deployed to the BMC unit for realizing (the possibility of moving upwards to the RIOM unit is provided at the later stage). The axis speed information of the anti-skid control algorithm is provided by a RIOM shared speed measuring unit of the integrated platform, the communication period of the shared speed measuring unit is 30ms, the internal sampling period is 3ms, smooth filtering with the period of not less than 10 is adopted, and the BMC unit can directly use the axis speed information.

The braking system comprises a main braking system, a braking system and a braking system, wherein the main braking system adopts an equal adhesion principle, and preferably uses the dynamic braking of a motor shaft, and when the dynamic braking is insufficient, the friction braking of a trailer is preferably controlled in a complement mode; when the dynamic braking of the motor shaft is equal to the friction braking value of the trailer shaft, the part of the motor shaft, which is insufficient in dynamic braking, is compensated by the friction braking force of the motor shaft; and then the braking force of the motor shaft and the trailer shaft always keeps the balanced and distributed equal adhesion control strategy until the vehicle is stopped, and the vehicle is switched to a braking state.

Fig. 3 is a second flow chart of a braking control method of the electromechanical braking system of the present invention, as shown in fig. 3, in the embodiment of the present invention, a train control and management system TCMS may calculate a total braking force demand value (KN) required by the whole train according to information such as a preset deceleration under the service brake, a train load, and mechanical braking capability values of each bogie in response to a common braking command or a quick braking command input by a console; or, according to the information such as the preset deceleration, the train load and the mechanical braking capability value of each bogie under the rapid braking, calculating the total braking force required value (KN) of the whole train. Wherein, each bogie mechanical braking capability value can be calculated by BCU_APP according to the current speed of the train.

Then, the TCMS distributes the electric braking force demand value among the braking force total demand values required by the train to the traction system (Drive Control Unit, DCU) application software system DCU_APP according to the electromechanical hybrid braking distribution situation and complies with the impulse limitation demand, and the DCU_APP calculates the electric braking force of each bogie of the train according to the electric braking force demand value among the braking force total demand values required by the train.

Then, the TCMS transmits the total braking force demand value required by the train and the electric braking force of each bogie of the train to bcu_app, which acquires the mechanical braking force demand value among the total braking force demand values required by the train and the electric braking force of each bogie of the train, calculates the friction braking precompensation amount of each bogie axle to perform braking force compensation, and thereby determines the braking force demand value of each on-bogie axle.

Further, the bcu_app sends the braking force demand value of the axle on each bogie to the BMC, which applies the brake to the axle of each bogie according to the braking force demand value of the axle on each bogie until the train is stopped.

According to the braking control method of the train electromechanical braking system, the system architecture of the braking control application software system BCU_APP, the braking motor control unit BMC and the braking clamp unit BEC is utilized, the BMC is connected with the BEC through the torque motor, the BCU_APP outputs braking control instructions, the braking force required values of all bogie axles of the train are determined based on the current running condition of the train, under the braking control instructions, the BMC controls the torque motor to run according to the braking force required values of all bogie axles to drive the braking clamp unit BEC to act, and controls the braking clamp corresponding to all bogie axles to act, so that the train enters a braking state, the electromechanical braking function of the train is effectively realized, the integrated platform system control architecture of the electromechanical braking of the train is realized through the integrated combination of software and hardware, and the reliability and safety of the operation under a train braking mode are greatly improved.

In addition, in the embodiment of the invention, the train electromechanical braking system is judged according to the train speed, and when the train speed is lower than 0.5km/h, the braking force is automatically applied, so that the AW3 load and the train under the maximum slope can be ensured not to slip. And when the driver is in a traction position and the train speed is greater than 1.5km/h, the brake is kept to be automatically released. The holding braking function is a braking control mode automatically applied by the BMC unit of the electromechanical braking system, and is not controlled by the whole vehicle instructions such as TCMS and the like.

Based on the foregoing, as an optional embodiment, the method further includes:

in the case that the train is determined to be stopped, the train control and management system TCMS responds to a second braking instruction input by a user and sends the second braking instruction to a braking control application software system BCU_APP;

after receiving the second braking instruction, the braking control application software system BCU_APP calculates a parking braking force demand value of the train and sends the parking braking force demand value to the braking motor control unit BMC;

Specifically, the second braking instruction described in the embodiment of the invention refers to a train parking braking instruction, and is used for controlling to apply braking force so as to ensure that the train does not slip under the influence of overload AW3 load of passengers, a maximum ramp and maximum wind power.

In the embodiment of the invention, under the condition that the train is determined to be stopped, the TCMS can respond to a parking brake instruction input by a user of the driver console and send the parking brake instruction to the BCU_AP so that the BCU_APP can calculate the parking brake force demand value of the train after receiving the parking brake instruction and further send the parking brake force demand value to the BMC unit, and the BMC can control the BEC to drive the brake clamp to act according to the parking brake force demand value calculated by the BCU_APP and execute the parking brake mechanical action.

Based on the above-described embodiments, as an alternative embodiment, the brake motor control unit BMC controls the brake caliper unit BEC to perform a parking brake mechanical action according to the parking brake force demand value, including:

the brake motor control unit BMC controls the braking force applied to the brake caliper unit BEC according to the parking braking force demand value, and acquires pressure data fed back by the brake caliper unit BEC to determine that the braking force applied to the brake caliper unit BEC reaches the parking braking force demand value;

The brake control application software system bcu_app sends a parking brake command to the brake motor control unit BMC, so that the brake motor control unit BMC applies a braking force to the brake caliper unit BEC according to the parking brake command and controls the brake caliper unit BEC to perform a parking brake mechanical action.

Specifically, in an embodiment of the present invention, a mechanical brake unit (Brake Mechanical Unit, BMU) connected to the BEC may be provided, the BMU is mechanically connected to each truck axle, and the axle braking force value of each truck axle may be monitored in real time by using a pressure sensor provided by the BMU, so that the BEC may acquire these axle braking force pressure data and feed these pressure data back to the BMC in further real time.

Therefore, in the embodiment of the present invention, the braking force applied to the BEC is controlled at the BMC according to the parking braking force demand value, the pressure data fed back by the BEC may be simultaneously acquired, and the BMC may further determine whether the braking force applied to the BEC reaches the parking braking force demand value.

Further, in this embodiment, after the BMC determines that the braking force applied to the BEC has reached the parking braking force demand value, the result may be sent to the bcu_app, and after the bcu_app determines that the braking force applied to the BEC has reached the parking braking force demand value, the BMC sends a parking braking instruction to the BMC, and after the BMC receives the parking braking instruction, the BMC applies the braking force to the BEC and controls the BEC to perform the parking braking mechanical action.

According to the method provided by the embodiment of the invention, the applied braking force can be precisely controlled to reach according to the parking braking force demand value by setting the real-time feedback mechanism of the braking force pressure data applied to the BEC, so that the fine control of the train parking braking function is realized, and the reliability and stability of the system parking braking function are improved.

Fig. 4 is a third flow chart of the braking control method of the electromechanical braking system of the present invention, as shown in fig. 4, which is a control signaling diagram in a parking braking scenario of a train, in this embodiment, when it is determined that the train has been stopped (speed v=0), the TCMS responds to a parking braking command input by a user and sends the braking command to the bcu_app. After the BCU_APP receives the parking brake instruction, the parking brake force demand value of the train is calculated and set after the train is judged to be parked, the determined parking brake force demand value is sent to the BMC, the BMC controls the motor to execute brake force application according to the parking brake force demand value, and the BEC is driven to control brake clamp action.

Further, in this embodiment, the axle braking force value of each bogie axle is monitored in real time by a pressure sensor in a mechanical braking unit (Brake Mechanical Unit, BMU) connected to the BEC, and the axle braking force value collected by the pressure sensor is fed back to the BMC in real time, and after the axle braking force is determined to reach the set parking braking force demand value, the BMC forwards the result to the bcu_app, and the bcu_app sends a parking braking instruction to the BMC again according to the result, and after the BMC receives the parking braking instruction, the BMC controls the BEC to execute the parking braking mechanical action.

Finally, after the BMC collects that BEC parking brake is applied, the status information is forwarded to BCU_APP, and the BCU_APP forwards the status information that BEC parking brake is applied to TCMS, so that the train parking brake function is executed.

According to the method provided by the embodiment of the invention, the TCMS responds to the train parking brake instruction, informs the BCU_APP, calculates and sets the parking brake force demand value of the train, and sends the parking brake force demand value to the BMC, so that the BMC controls the BEC to execute the parking brake mechanical action according to the parking brake force demand value, the parking brake function under the integrated platform system of the train electromechanical brake is further realized, and the safety of train braking operation is effectively improved.

Furthermore, in embodiments of the present invention, the train electromechanical brake system designs three levels of assurance for manual mitigation of parking brake in certain situations.

When the train suddenly breaks down in the on-line operation and needs rescue or re-traction after parking and parking braking are implemented, the parking braking can be normally relieved through a cab button due to the fact that the electric quantity of the standby battery of the electromechanical braking system is sufficient.

When the standby battery of the electromechanical braking system is powered off due to long-term parking of the train in the warehouse, the whole train can be powered by the power supply device in the warehouse, and then the operation in the cab is relieved.

In an extreme case, when the individual electromechanical clamping units cannot be relieved due to mechanical faults and the like, the fault clamping units can be directly and manually forced to retract in a mechanical mode, so that the relief is realized.

In the embodiment of the invention, the emergency braking mode is a braking mode of pure friction braking, wherein the emergency braking mode is effective in power failure. Regardless of the cause of emergency braking (cab emergency brake button activation, passenger compartment emergency brake activation, compartment fire activation, vehicle integrity loss, etc.), all vehicles are braked at an emergency brake rate. The emergency braking is applied through an emergency braking control module in the BMC, and has impulse limiting, empty and heavy vehicle adjusting and anti-skid functions. Once the emergency brake is triggered, the electric brake is automatically cut off and the zero-speed linkage is applied, and the emergency brake cannot be canceled until the vehicle is completely stopped.

In order to improve the safety level of emergency braking, emergency braking hard line information is collected by RIOM and BMC simultaneously, the BMC adopts a control strategy of network signal priority, and under the condition that a network instruction is effective, the network instruction information is executed (the hard line signal needs to be subjected to filtering processing, so that misoperation is prevented).

When the emergency braking is applied, the electric braking is automatically cut off, and all braking force is independently borne by the air braking.

In an embodiment of the present invention, the following series of linkage requirements will be generated during an emergency braking action: after emergency braking occurs, no relief braking is allowed before the train is completely stopped (zero speed interlock to prevent restarting during vehicle deceleration); regardless of the emergency braking caused by the reason, all vehicles must be decelerated at an emergency braking deceleration; the power supply of all the inverters is immediately interrupted, and the inverters are blocked until the train is completely stopped (zero-speed interlocking); during the whole stopping process, the emergency electric train line is interrupted.

In the embodiment of the invention, the BCU_APP is also responsible for the functional logic implementation of the whole train fault isolation.

Optionally, the method further comprises:

under the condition that the brake control application software system BCU_APP and the brake motor control unit BMC are detected to lose communication connection, or the brake motor control unit BMC is detected to lose communication connection with the brake control application software system BCU_APP and the remote input/output module RIOM, the brake motor control unit BMC keeps a brake release state, and does not apply braking force to the brake clamp unit BEC.

And under the condition that the brake motor control unit BMC is detected to be in a lost fault state, the brake control application software system BCU_APP transmits the lost fault state to the train control and management system TCMS so as to display corresponding fault alarm information at the front end.

Specifically, in this embodiment, the driver controller may implement isolation of braking and parking braking of the bicycle, the bogie and the axle through the HMI control interface, report the isolation status through the network, and the HMI displays the running status information of the BMC units of each axle in real time. The isolated shaft, BEC, will remain in a brake-released state and no longer participate in the braking process.

If the BMC unit and the BCU_APP lose network communication connection and become a braking resource island in a network vehicle control mode, the BMC unit keeps a brake release state and does not apply any braking force to the BEC.

If the BMC unit, the BCU_APP and the RIOM are all in communication connection, the BMC unit always keeps a brake release state, and the BMC unit also loses brake capability in an emergency traction mode. The BMC unit is capable of responding to emergency braking commands regardless of the control mode.

In some embodiments, when the bcu_app detects that a certain BMC unit is lost, the bcu_app may upload a fault status to the TCMS, so that an alarm message is prompted on the HMI display terminal to suggest isolating the fault axis.

According to the method provided by the embodiment of the invention, the strategy that the BMC unit keeps the brake release state is set by considering the emergency situation that the communication connection between the BMC and the BCU_APP and RIOM is lost, so that the train fault isolation function under the integrated platform system of the train electromechanical brake is realized, and the safety of train brake operation is further improved.

In the embodiment of the invention, the BCU_APP is also responsible for the functional logic implementation of the whole-column vehicle load adjustment. RIOM of the integrated platform gathers four way AS load sensor pressure, later converts into the car weight for braking force calculation. Within the ranges of AW0, AW2, AW3, the air spring pressure will be linearly mapped to a dynamic load. The load calculation formula is defined as a first order linear function, and the characteristic parameters are provided to the brake system by the host factory and stored in the BCU. Wherein AW refers to a train load, AW0 refers to no load, AW1 refers to each passenger having a seat, AW2 refers to 6 people per square meter, and AW3 refers to 9 people per square meter.

In service braking, if one ASP sensor fails (e.g., the empty spring break/load sensor output is less than the empty weight signal/load sensor output is greater than the overman weight signal, etc.), then its value is set to the read value of the other ASP sensor on the truck. If all 2 ASP sensors on the same truck fail, the air spring pressure of this truck is set to the ASP value for the other truck on the same truck. If all ASP sensors on a vehicle fail, a preset value (e.g., excess load) is used instead. Faults fall into two categories: the sensor is not valid and the return difference is 20kPa. Wherein, the load signal of the vehicle is collected when the train is stationary (the optimal time is when the door is closed, and before the traction signal is generated, the signal needs to be filtered).

In the embodiment of the invention, the BCU_APP is also responsible for the matching and compensating function logic implementation of the friction brake of the whole train.

In order to solve the problem that the electromechanical friction braking reaction may lag when the electric braking force tends to disappear before stopping or when the electric braking is cut off due to excessive net pressure, the pre-pressure control is applied to eliminate the clearance after the braking is started, and the friction braking is ensured to start to rise at the moment when the electric braking starts to fall. Theoretically the total braking force is unchanged during this process.

BCU_APP sends braking instruction information to the BMC unit, and after the BMC receives a braking state, the BMC applies precompression to control and eliminate gaps.

In the embodiment of the invention, the BCU_APP is also responsible for the functional logic implementation of the whole train braking force without alleviating fault detection.

The braking state of the system has emergency braking/quick braking/service braking/holding braking/parking braking instructions, and when the system is not in any state, but the feedback value of the electromechanical braking weighing sensor is larger than a certain value, the system is judged to be in a 'braking not alleviating' state.

And if the feedback value of the electromechanical braking weighing sensor is abnormal in a fixed time period according to the current braking state, the BCU_APP judges that the braking is not released, and applies for cutting the shaft to the TCMS.

In an embodiment of the invention, the bcu_app is also responsible for the functional logic implementation of the whole train brake force applied state detection.

When the system is in an emergency braking or quick braking or service braking or holding braking state, the system detects that the feedback value of the electromechanical braking push-out force is larger than a preset threshold value, and then the state of 'braking force applied' is judged.

The BCU_APP calculates actual braking force application feedback values fed back by the weighing sensors of all the shafts, and when the sum of the actual braking force application values is equal to the mechanical braking force required value, the state of 'braking force applied' is returned.

In an embodiment of the invention, bcu_app is also responsible for the functional logic implementation of the whole train parking brake applied state detection.

When the train is stopped and in a brake-keeping state, the parking brake button acts at the moment, the TCMS transmits the collected parking brake command to the BCU_APP, and the BCU_APP forwards the parking brake command to each BMC unit.

And the BMC unit receives the parking brake instruction, operates the clutch to act, and sets the state position of released brake after the brake position (power-down hold) is blocked, and sets the state position of applied parking brake.

In an embodiment of the invention, the train electromechanical brake system can also realize rescue and loopback functions. Under the condition that a locomotive is connected with a subway train for rescue, an integrated platform of the rescue vehicle collects pressure signals of a train Pipe (BP), and the electromechanical Brake application and release of the subway train are controlled according to the pressure signal changes of the pressure signals.

When the same type of car is used for rescue or the train is provided with a microcomputer controlled direct-current empty brake system, the rescue car is required to be connected with an emergency brake safety loop and a service brake command line of the car to be rescued so as to transmit a brake command.

The subway train to be rescued adopting the electromechanical braking system does not need the rescue vehicle to provide compressed air in the rescue loopback process, and if the operation of braking application and relieving on the rescue vehicle is needed, the subway train to be rescued needs to be powered.

In an embodiment of the invention, the train electromechanical brake system may also implement a self-test function. Self-test of the train electromechanical brake system is initiated by the CCU and includes a service brake test, an emergency brake test, and a park brake test. The self-checking function is implemented by the BCU_APP master control, BMC is passively executed, and after the state is fed back to the BCU_APP, the BCU_APP judges an execution result.

The braking will be relieved during the self-test and the parking brake is also in a relieved condition. Thus, in performing a self-test, the order in which the self-test begins must be controlled to ensure that braking is not relieved by more than 50%.

Each self-test result of the electromechanical brake system can identify the position information of the fault.

The brake detection is started when the following conditions are satisfied, including: currently there is no brake detection and no emergency brake applied, and a self-test command is received, and the train is stationary and parking brake is released (so self-test should be performed alternately in half-trains, while the current half-train performs self-test, the other half-train should remain parking brake applied).

The brake detection may include: detecting the consistency of motor action and a pressure sensor; detecting an emergency braking state; checking the storage data of the non-persistent and persistent memories; the equipment should be subjected to pressure sensor calibration detection at regular intervals; detecting speed sensor availability and battery powered detection.

In an embodiment of the invention, the train electromechanical brake system can also realize the functions of data logging and data storage. The train electromechanical brake system has fault log and data storage functions that can record and store all brake equipment data, including but not limited to data over a period of time before and after a fault occurs. And the fault processing information acquired by the BCU_APP is recorded into an ERM unit through the integrated platform.

The electromechanical brake control device (BCU) sends brake state information, anti-skid control information and fault diagnosis information to the TCMS through an ETH serial port, wherein the specific brake state information and the fault diagnosis information comprise information such as service braking, emergency braking, anti-skid control and the like, and also comprise information such as air spring pressure, vehicle weight, brake cylinder pressure, corresponding pressure sensor faults, brake application state, emergency braking application, axle speed, anti-skid activation and the like.

The electromechanical brake control device can store and download brake slip and anti-slip control fault information. The electromechanical brake control device is subjected to centralized maintenance through a train backbone network, and fault information and state information of the electromechanical brake control device can be read through the Ethernet port. At the same time, the maintenance ethernet interface may update the electromechanical brake apparatus with programs and parameters. The fault information stored by the electromechanical brake apparatus includes at least instructions and status data 10s before and after the moment of occurrence of the fault.

Fig. 5 is a schematic physical structure of an electronic device according to the present invention, as shown in fig. 5, the electronic device may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform the method of braking control of a train electromechanical braking system provided by the methods described above, including: the train control and management system TCMS responds to a first braking instruction input by a user, and determines a total braking force required by the train according to preset deceleration and train load; the train control and management system TCMS transmits the total required braking force value required by the train and the electric braking force of each bogie of the train to a brake control application software system BCU_APP; the electric braking force of each bogie is determined based on the total required braking force value of the train; the brake control application software system BCU_APP determines the friction brake compensation quantity of each bogie axle according to the total required braking force value required by the train and the electric braking force of each bogie of the train so as to determine the required braking force value of the axle on each bogie; and the brake control application software system BCU_APP sends the braking force demand value of the axles on each bogie to a brake motor control unit BMC, and the brake motor control unit BMC applies braking to the axles on each bogie according to the braking force demand value of the axles on each bogie until the train stops.

In addition, the logic instructions in the memory 530 described above may be implemented in the form of platform function units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a platform product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the braking control method of the train electromechanical braking system provided by the above methods, comprising: the train control and management system TCMS responds to a first braking instruction input by a user, and determines a total braking force required by the train according to preset deceleration and train load; the train control and management system TCMS transmits the total required braking force value required by the train and the electric braking force of each bogie of the train to a brake control application software system BCU_APP; the electric braking force of each bogie is determined based on the total required braking force value of the train; the brake control application software system BCU_APP determines the friction brake compensation quantity of each bogie axle according to the total required braking force value required by the train and the electric braking force of each bogie of the train so as to determine the required braking force value of the axle on each bogie; and the brake control application software system BCU_APP sends the braking force demand value of the axles on each bogie to a brake motor control unit BMC, and the brake motor control unit BMC applies braking to the axles on each bogie according to the braking force demand value of the axles on each bogie until the train stops.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method of controlling braking of a train electromechanical braking system provided by the above methods, comprising: the train control and management system TCMS responds to a first braking instruction input by a user, and determines a total braking force required by the train according to preset deceleration and train load; the train control and management system TCMS transmits the total required braking force value required by the train and the electric braking force of each bogie of the train to a brake control application software system BCU_APP; the electric braking force of each bogie is determined based on the total required braking force value of the train; the brake control application software system BCU_APP determines the friction brake compensation quantity of each bogie axle according to the total required braking force value required by the train and the electric braking force of each bogie of the train so as to determine the required braking force value of the axle on each bogie; and the brake control application software system BCU_APP sends the braking force demand value of the axles on each bogie to a brake motor control unit BMC, and the brake motor control unit BMC applies braking to the axles on each bogie according to the braking force demand value of the axles on each bogie until the train stops.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of a platform plus a necessary general purpose hardware platform, or may be implemented by hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in part in the form of a platform product, which may be stored in a computer readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train electromechanical brake system, comprising:

2. The train electromechanical brake system according to claim 1, wherein the train level brake control integration platform further comprises a remote input output module RIOM;

3. A brake control method applied to the train electromechanical brake system according to any one of claims 1 to 2, characterized by comprising:

4. The brake control method of a train electromechanical brake system according to claim 1, characterized in that the method further comprises:

5. The brake control method of a train electromechanical brake system according to claim 4, wherein the brake motor control unit BMC controls the brake caliper unit BEC to perform a parking brake mechanical action according to the parking brake force demand value, comprising:

6. A brake control method of a train electromechanical brake system according to any one of the claims 3 to 5, characterised in that the method further comprises:

7. A brake control method of a train electromechanical brake system according to any one of the claims 3 to 5, characterised in that the method further comprises:

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements a brake control method of a train electromechanical brake system according to any of the claims 3 to 7 when executing the program.

9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements a brake control method of a train electromechanical brake system according to any of claims 3 to 7.

10. A computer program product comprising a computer program which, when executed by a processor, implements a brake control method of an electromechanical brake system of a train according to any of claims 3 to 7.