EA028639B1 - Method and a system for determination of resistance to motion of a mobile object in the process of movement of a mobile object - Google Patents

Abstract

The technical solution is designed to improve efficiency of the use of moving objects, for example, a railway rolling stock or a vehicle during its motion, when controlling objects in automatic mode or in the adviser mode. The technical result of usage of this technical solution consists in increasing the level of feedback when controlling a mobile object and improving the ability to respond to situations which arise in the process of controlling a mobile object. The method for determining the resistance to movement of a mobile object during motion of a mobile object includes the following steps: for each coordinate of the path, the parameters of the mobile object are obtained, including at least: dependence of the resistance to motion on the motion velocity, the a priori vector of the parameters of the dependence of the resistance to motion on the motion velocity, a priory value of resistance to movement, speed, value of control impact, mass, coordinate; for each coordinate of the path, the current speed value is updated based on the value of resistance to motion obtained at the previous step; for each coordinate of the path, the vector of the parameters of the resistance to motion is refined based on the speed of motion determined at previous steps and the dependence of the resistance to motion on the speed of motion; the value of the resistance to motion based on the parameter vector obtained at the previous step; the motion resistance value determined at the previous step is transmitted to the mobile object control system for further use or for display to the person controlling the mobile object.

Description

The technical solution is intended to increase the efficiency of using moving objects, for example, railway rolling stock or a car when it is moving, when controlling an object in automatic mode or in adviser mode.

State of the art

With any movement between the surfaces of bodies or in the medium in which it moves, resistance forces always arise. They are also called friction forces. They can depend on the types of rubbing surfaces, the reactions of the support of the body and its speed, if the body moves in a viscous medium, such as water or air,

For the efficient use of transport, it is necessary to know the strength of resistance to movement. The more precisely the characteristics of the control object are known, the higher the level of feedback, and as a result, more effective control. For example, when constructing an energy-optimal control: the more accurately the resistance to movement is known, the more accurately you can calculate the energy-efficient control law; or in a system for maintaining speed: the more accurately the resistance to movement is known, the more accurately you can calculate the control at which the speed will be constant.

As a rule, the resistance forces to the movement of a moving object are calculated in advance with the so-called bench or road tests of vehicles.

The main problem of this approach is the impossibility of clarifying the resistance to movement in the process of moving a moving object, since it is very difficult to reproduce all possible conditions and situations that arise directly during the operation of vehicles in bench or road tests of vehicles.

During bench tests, the average values of the dependence of the resistance to movement on speed are calculated. Such an approach does not allow to specify the coefficients of the parameters of the dependence of the resistance to movement on speed, which vary randomly from one vehicle to another and also depend on operating conditions.

The invention is known from the prior art KI 2011955, Method for determining the coefficient of total resistance to movement of a vehicle during its road tests, V. Ustimenko (KI), G. Loschakov (CI), Pakhomov S.B. (CI), Lets V.K. (CI), published on 04/30/1994. This invention relates to tests of vehicles and relates to determining the coefficient of total resistance to movement of a wheeled and tracked vehicle during testing. The coefficient of total resistance to movement is determined through the energy costs of the engine - fuel consumption for overcoming the total resistance forces to the vehicle’s movement, including rolling resistance, lifting, inertia, sprung mass, air and resistance forces to the movement of the trailer, as well as power loss in the transmission and speed . The account of the forces of resistance to movement is achieved through the energy costs of the engine - fuel consumption for a specific type of road and realizable speed.

Known invention KI 2130599, a Method for determining the resistance to movement of a vehicle, V. Petrushov (CI), published on 05/20/1999. This invention allows with high accuracy and reproducibility of the results to be determined by the method of run-out of aerodynamic drag and rolling resistance of vehicles on dynamic roads of road ranges, both with long and shortened (600-900 m) measuring sections.

When using the above inventions, it is not intended to determine the resistance to the movement of a moving object during the movement of a moving object for each coordinate of the movement path of the moving object.

The essence of the technical solution

This technical solution is aimed at eliminating the disadvantages inherent in existing analogues.

The technical result from the use of this technical solution is to increase the level of feedback when controlling a moving object and improving the ability to respond to situations that arise in the process of controlling a moving object.

This technical result is achieved by determining the resistance to movement of a moving object in the process of moving a moving object for each coordinate of the route of movement of a moving object.

The method for determining the resistance to movement of a moving object in the process of moving a moving object includes the following steps:

for each coordinate of the path, the parameters of the moving object are obtained, including at least the dependence of the resistance to movement on the speed of movement, an a priori vector of the parameters of the dependence of resistance to movement on the speed of movement, a priori value of resistance to movement, speed, value of control action, mass, coordinate;

for each coordinate of the path, the current speed value is specified based on the value of the resistance to movement obtained in the previous step;

for each coordinate of the path specify the vector of the parameters of the dependence of the resistance to movement

- 1 028639 based on the speed of motion determined in the previous steps and the dependence of the resistance to movement on the speed of movement;

determine the value of resistance to movement on the basis of the vector of parameters obtained in the previous step;

transmit the value of the resistance to movement, defined in the previous step, to the control system of the moving object for further use or display to the person controlling the moving object.

The steps of determining the resistance to movement of a moving object during the movement of a moving object can be performed cyclically. The required parameters can come from various sensors installed in a moving object, and / or calculated on their basis.

The speed and current location (coordinates) of the moving object can be determined using satellite navigation systems.

The navigation system of a moving object may be a CP8, and / or Glonass, and / or Beidou system,

This technical solution can be made in the form of a system for determining the resistance to movement of a moving object during the movement of a moving object, which includes one or more command processing devices, one or more data storage devices, one or more programs, where one or more programs are stored on one or more data storage devices and are executed on one or more processors, and one or more programs includes the following instructions: for each coordinate of the path, the parameters of the mobile object, including, at least, the dependence of the resistance to movement on the speed of movement, an a priori vector of parameters of the dependence of resistance to movement on the speed of movement, a priori value of resistance to movement, speed, value of control action, mass, coordinate; for each coordinate of the path, the current speed value is specified based on the value of the resistance to movement obtained in the previous step; for each coordinate of the path, the vector of parameters of the dependence of the resistance to movement is specified on the basis of the speed of movement determined in the previous steps and the dependence of the resistance to movement on the speed of movement; determine the value of resistance to movement on the basis of the vector of parameters obtained in the previous step; transmit the value of the resistance to movement, defined in the previous step, to the control system of the moving object for further use or display to the person controlling the moving object. The steps of determining the resistance to movement of a moving object during the movement of a moving object can be performed cyclically. The required parameters can come from various sensors installed in a moving object, and / or calculated on their basis.

The speed and current location (coordinates) of the moving object can be determined using satellite navigation systems.

The navigation system of a moving object may be a CP8, and / or Glonass, and / or Beidou system.

Brief Description of the Drawings

The presented figures show:

FIG. 1 - movement along the profile of the path with actual resistance to movement less than calculated; FIG. 2 - movement along the profile of the path with actual resistance to movement greater than the calculated; FIG. 3 is a flowchart of one embodiment of a method for determining resistance to the movement of a moving object in the process of moving a moving object.

Detailed description of the technical solution

This technical solution in its various embodiments can be made in the form of a method, in the form of a system or a computer-readable medium containing instructions for performing the aforementioned method.

In some embodiments, the technical solution may be implemented as a distributed computer system.

In this technical solution, a system means a computer system, a computer (electronic computer), CNC (numerical control), PLC (programmable logic controller), computerized control systems and any other devices that can perform a given, well-defined sequence of operations (actions instructions).

By a command processing device is meant an electronic unit or an integrated circuit (microprocessor) that executes machine instructions (programs).

The command processing device reads and executes machine instructions (programs) from one or more data storage devices. Hard drives (ΗΌΌ), flash memory, ROM (read-only memory), solid-state drives (δδΌ), optical drives can act as storage devices.

A program is a sequence of instructions intended for execution by a control device of a computer or a device for processing commands.

- 2 028639

Below we will consider some terms that will be used later in the description of the technical solution.

Resistance to movement is the equivalent force, the overcoming of which requires the same work as the overcoming of all uncontrollable forces that impede movement.

Control action is the value of the traction or braking force developed by the traction and / or braking equipment of a moving object.

In this technical solution, the effect of increasing the feedback level when controlling a moving object and improving the ability to respond to situations arising in the process of controlling a moving object is achieved by determining the resistance to the movement of the moving object for each coordinate of the moving object’s motion path.

According to the proposed technical solution, the method for determining the resistance to movement of a moving object in the process of moving a moving object includes the following steps.

For each coordinate of the path, the parameters of the moving object are obtained, including at least the dependence of the resistance to movement on the speed of movement, an a priori vector of the parameters of the dependence of resistance to movement on the speed of movement, a priori value of resistance to movement, speed, value of control action, mass, coordinate.

The speed and coordinates of rolling stock can be determined, but not limited, both on the basis of sensor readings (for example, an odometric sensor), and using radio navigation aids, for example ΟΡδ, Glonass.

The value of the control action can be obtained from sensors installed on the vehicle and / or calculated based on their readings. For example, in a car, the value of the control action can be obtained from measurement systems based on engine speed and / or wheel speed; in various types of air transport equipped with jet engines, the value of the control action can be obtained both from the dynamometer and calculated on the basis of data on the rate of combustion of fuel, etc.

The mass can be obtained on the basis of the passport characteristics of the vehicle and / or entered into the control system from the outside. The a priori vector of the parameters of the dependence of the resistance to movement at the initial step is taken from the passport characteristics of the vehicle, then at the ΐ-th step the vector of parameters is taken as the result from the ΐ-1st step, i.e. at each step (ΐ-m), the vector of parameters is refined relative to the previous value (obtained at ΐ-1-m step), i.e. with each step we specify the characteristics of the control object.

The a priori value of the resistance to movement can be determined using the dependence of the resistance to movement. The value of the speed of the moving object is substituted by the known dependence of the resistance to movement (with the vector of the parameters of the dependence of the resistance to movement on the speed of movement obtained in the previous step): Y (p _k , ν), where p _k is the vector of the parameters of the dependence of the resistance to movement; p ₀ is the starting vector of the parameters of the dependence of resistance to movement; known from the passport characteristics of the control object.

For each coordinate of the path, the current speed value is specified based on the value of resistance to movement obtained in the previous step from the known dependence of resistance to movement:

r <Л> -Лр _to Л- С (x) ax (1) where P (x) is the value of the control action in the x coordinate;

O (x) - other external forces acting on the object (in the case of a ground moving object - additional force created by the path profile).

For each coordinate of the path, the vector of parameters of the dependence of the resistance to movement is specified on the basis of the speed of motion determined in the previous steps and the dependence of the resistance to motion on the speed of movement.

The refinement of the parameter vector can occur as follows.

Equation of motion

RL-MARL-Lh) ...

ax (1) can be discretized as follows:

or, which is the same:

No. (ρ, ν,} = Р (хк- 0 (4) (3) where And is the discretization step.

According to the known dependence \\ '(p _to , ν) and the value of ν ^; the calculated value \\ ' ^{ca1s is calculated} ; having calculated the right-hand side of equation (3), we obtain the measured value. Next, the deviation of the measured value from the calculated one is calculated:

Based on δ, the parameter vector p is refined using one of the known methods, for example, using a discrete recursive filter. p _k + 1 = P _k + £ (p _k ), where £ (p _k ) is the right side of the equation of the object.

The value of resistance to movement is determined on the basis of the vector of parameters p _k obtained in the previous step from the known dependence Y (p _k , ν).

The value of the speed of the moving object is substituted into the known dependence of the resistance to movement on speed (with the vector of the parameters of the dependence of the resistance to movement on the speed of movement obtained in the previous step): ^ (p _to , ν), where p _to is the vector of the parameters of the dependence of resistance to movement

The value of the resistance to movement, determined in the previous step, is transmitted to the control system of the moving object for further use or display to the person controlling the moving object, for example:

1. In the system for maintaining speed (cruise control), it is necessary that the acceleration be 0:

c / ν άν ~ 1 ~ ^{= ν} ~ Γ ⁼ θ

(.ιί their (1 + γ) »^^ - = Γ (χ) -Ι7 (/ ?, ν) -σ (χ) (4) where Y (p, ν) is the dependence of the resistance to movement on speed; p - vector of dependency parameters.

For this, it is necessary that the right-hand side of equation (4) be 0:

C (x) = ΙΓ (ρ, ν ') - C (x) = 0 or, which is the same:

/ Дх) = ΙΓ (ρ, ν) - С (х) (5)

Therefore, the more precisely the parameter vector p is known, the more accurately can problem (5) be solved.

2. Trouble-free operation, for example, by train or car.

It is known that in order to prevent accidents from occurring, it is necessary that the acceleration of a moving object be limited (exclude sudden acceleration or sudden braking):

tm - άν LMX ί a <- <a άί

In order for condition (6) to be satisfied, it is necessary that the inequalities hold:

The more precisely the vector of parameters p is known, the more accurately you can find the control action B (x), at which the acceleration will be acceptable.

3. When driving on a given route with a minimum time, taking into account speed limits, possible traffic signals, etc .:

T is the time of movement.

x ₀ , x _k - the starting and ending points of route 8.

where ν (χ) - satisfies equation (4);

speed limit is set in each coordinate of the path:

The more precisely the vector of parameters p is known, the more accurately it is possible to determine the control action at which the minimum time T (8) is reached when condition (9) is satisfied.

In FIG. Figures 1 and 2 show the movement of a moving object along the path profile of route 8, while there are speed limits — the actual speed of movement (UV) and optimal (War!) For traveling the distance in the required time T. are shown in these drawings.

In FIG. ^Figure 1 schematically depicts the case when the actual resistance to movement is less than the calculated one: ^ ^gea1 <^ ^ca1s , then an excess of the speed limit and / or violation of the traffic signal may occur. In order to prevent this from happening, at the point designated as Torm., Brake is applied and the coasting process is started anew.

In FIG. ^Figure 2 schematically depicts the case when the actual resistance to movement is greater than the calculated ^ ^gea1 <^ ^ca1s , then the movement time will be longer than specified, for example, by a schedule. This can happen when climbing along the profile of the path: in this case, the actual speed of movement (UV) will fall, in order to achieve the optimal (UV!) Speed, it is necessary to increase the energy consumption.

- 4,028,639

For an optimal solution of the described situations in both cases considered, the most accurately known vector of parameters p is required.

4. The solution to the problem of energy efficiency:

| * Ρ (χ) άχ tm (10) where P (x) is the value of the control action in the x coordinate.

Depending on the type of control (e.g., continuous or discrete), the energy-optimal control (10) can be determined using variational calculus methods and / or methods of optimal control theory and / or using dynamic programming methods.

For example, the following algorithm may be used.

1. Bring the problem to the classical formulation:

£ _o (h0H) _A d A) - »Tm * (x (·), m (x (·)) / ₀ L) = x (0 - φ (ί, x ((,), m (0) = 0

B ₁ (% (), m (), / _0; 1 _k ) <0, v = 1, m 'where

The _r (x (- \ and (/) X ^ _k) = 0, ί = m ', m); ΐ = θ / η

2. Next, you must:

1) make up the Lagrange function;

2) select the necessary conditions for a process that is optimal in the weak sense:

a) stationarity in x - Euler equation for the Lagrangian;

b) transversality in x;

c) stationarity in and;

d) stationarity of 1 _k ;

e) complementary nonrigidity;

e) the non-negativity of the Lagrange multipliers.

3. Find admissible controlled processes for which the conditions of claim 2 are satisfied with the Lagrange multipliers λ and p (-), which are simultaneously equal to zero.

4. Among all admissible extremal processes found in Section 3, find a solution.

In FIG. 3 is a flow chart of one embodiment of a method for determining resistance to the movement of a moving object in the process of moving a moving object.

It is obvious to a person skilled in the art that specific embodiments of the method and system for determining the resistance to movement of a moving object during the movement of a moving object have been described here for purposes of illustration, various modifications are possible without departing from the scope and essence of the technical solution.

Claims (7)

1. A method for determining the resistance to movement of a moving object during the movement of a moving object, in which the parameters of the moving object are obtained, including at least the dependence of the resistance to movement on the speed of movement, an a priori vector of parameters of the dependence of resistance to movement on speed, a priori value of resistance to movement, speed , the value of the control action, mass, coordinate; for each coordinate of the path, the current speed value is specified based on the a priori value of the resistance to movement obtained in the previous step; for each coordinate of the path, the vector of parameters of the dependence of the resistance to movement is specified on the basis of the speed of motion obtained and determined in the previous steps, the value of the control action, the mass of the moving object and the dependence of the resistance to motion on the speed of movement; determine the value of resistance to movement on the basis of the refined vector of parameters obtained in the previous step; transmit the value of the resistance to movement, defined in the previous step, to the control system of the moving object for further use or display to the person controlling the moving object. 2. The method according to claim 1, in which the steps of the method are performed cyclically. 3. The method according to claim 1, in which the coordinates and speed of the moving object are determined using navigation systems. 4. The method according to claim 1, in which the parameters of the moving object can be obtained from sensors mounted on a moving object and / or calculated on their basis. - 5,028,639 5. The method according to claim 3, characterized in that the navigation system of the moving object is a CP8 system, and / or Glonass, and / or Beidou. 6. A system for determining the resistance to movement of a moving object in the process of moving a moving object, comprising at least one command processing device; at least one storage device; one or more computer programs loaded into at least one of the aforementioned data storage devices and executed on at least one of the aforementioned command processing devices, wherein one or more computer programs contain instructions for performing the method according to any one of claims 1 to 5. 7. A computer-readable storage medium containing machine-readable instructions executed by one or more processors, which, when executed, implement a method for determining the resistance to movement of a moving object in the process of moving a moving object according to any one of