EP3835566A1 - Steuergerät, steuersystem, eisenbahnfahrzeug und zugehörige steuerungsmethode - Google Patents

Steuergerät, steuersystem, eisenbahnfahrzeug und zugehörige steuerungsmethode Download PDF

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Publication number
EP3835566A1
EP3835566A1 EP20212495.4A EP20212495A EP3835566A1 EP 3835566 A1 EP3835566 A1 EP 3835566A1 EP 20212495 A EP20212495 A EP 20212495A EP 3835566 A1 EP3835566 A1 EP 3835566A1
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EP
European Patent Office
Prior art keywords
module
operating state
motor
rail vehicle
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20212495.4A
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English (en)
French (fr)
Inventor
Christophe CREUNET
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alstom Holdings SA
Original Assignee
Alstom Transport Technologies SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alstom Transport Technologies SAS filed Critical Alstom Transport Technologies SAS
Publication of EP3835566A1 publication Critical patent/EP3835566A1/de
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0062—On-board target speed calculation or supervision
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001—Electric control of rotation speed
    • F02D31/007—Electric control of rotation speed controlling fuel supply
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C5/00—Locomotives or motor railcars with IC engines or gas turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0072—On-board train data handling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D25/00—Controlling two or more co-operating engines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1412—Introducing closed-loop corrections characterised by the control or regulation method using a predictive controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/02—Input parameters for engine control the parameters being related to the engine
    • F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
    • F02D2200/101—Engine speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
    • F02D2200/501—Vehicle speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/70—Input parameters for engine control said parameters being related to the vehicle exterior
    • F02D2200/701—Information about vehicle position, e.g. from navigation system or GPS signal

Definitions

  • the present invention relates to a control device for at least two traction motors of a railway vehicle.
  • the present invention also relates to a control system comprising such a control device, a rail vehicle and an associated control method.
  • the invention relates to the field of controlling traction motors of railway vehicles.
  • the present invention relates to railway vehicles comprising a plurality of combustion engines, such as engines operating on diesel fuel.
  • Control devices which are configured to modify the speed of rotation of the traction motors, also called the engine speed, as a function of a traction power requirement for the rail vehicle.
  • the rotational speed of the motors is increased, and when the rail vehicle descends, the rotational speed is reduced.
  • the subject of the invention is also a control system comprising the control device as described above, the control system comprising in in addition to at least one sensor of a position of the railway vehicle, configured to generate the position signal of the railway vehicle.
  • control system further comprises at least one state sensor configured to measure the specific parameter.
  • the subject of the invention is also a railway vehicle comprising a control system as described above and at least and at least two traction motors.
  • part of a railway vehicle 1 comprises a plurality of motors 2 and a control system 4 of the plurality of motors 2.
  • the railway vehicle 1 comprises at least two motors 2, preferably three or more motors. According to the example of figure 1 , the rail vehicle 1 comprises four motors 2.
  • the engines 2 are traction engines for the rail vehicle 1, in particular combustion engines, such as diesel engines.
  • the motors 2 are configured to generate a pulling force for the rail vehicle 1.
  • control system 4 comprises at least one position sensor 10, at least one state sensor 12, at least one memory 14 and a control device 16.
  • the position sensor 10 is configured to measure an instantaneous position of the railway vehicle 1 and to emit a position signal of the railway vehicle 1, representative of this instantaneous position.
  • the position sensor 10 is for example a position sensor integrated into a satellite positioning system, such as a GPS (standing for “Global Positioning System”) sensor. According to another example, the position sensor 10 is a sensor configured to detect the position of the rail vehicle 1 by reading beacons arranged in the rail track on which the rail vehicle 1 is intended to travel. According to another example, the position sensor 10 is an odometer.
  • a satellite positioning system such as a GPS (standing for “Global Positioning System”) sensor.
  • GPS standing for “Global Positioning System”
  • the position sensor 10 is a sensor configured to detect the position of the rail vehicle 1 by reading beacons arranged in the rail track on which the rail vehicle 1 is intended to travel.
  • the position sensor 10 is an odometer.
  • the state sensor 12 is configured to measure at least one specific parameter relating to the operation of the railway vehicle 1.
  • the specific parameter comprises for example an acceleration or deceleration command of the rail vehicle 1.
  • the acceleration or deceleration command is configured to be generated in particular in response to an actuation of a command by a driver of the rail vehicle 1.
  • the specific parameter comprises a measurement of the speed of the rail vehicle 1 and / or an acceleration measurement of the rail vehicle 1.
  • the state sensor 12 is configured to measure an instantaneous value of the specific parameter relating to the operation.
  • the state sensor 12 comprises an angle sensor 18 configured to measure the angle of a gear lever (not shown) configured to be actuated by the driver, with respect to a “neutral” angle. »Preset of the gear lever, in which neither acceleration nor deceleration of the rail vehicle 1 is required. For example, when the gear lever is moved in a first direction with respect to the "neutral” angle, acceleration is required by the driver of the rail vehicle 1, and when the gear lever is moved in a second direction, opposite in the first sense, with respect to the “neutral” angle, deceleration or braking is required.
  • the state sensor 12 comprises a speed sensor 20 of the rail vehicle 1 and / or acceleration of the rail vehicle 1.
  • the specific parameter includes the acceleration or the speed of the rail vehicle 1.
  • This parameter is a parameter specific to the operation of the rail vehicle: for example when the rail vehicle 1 is heavily loaded with passengers or goods, or boxes axles have high friction, the rail vehicle 1 is likely to accelerate, following a traction power supplied, to an acceleration less than that which would have been obtained in a situation in which the rail vehicle 1 is less loaded or the axles have lower friction.
  • the state sensor 12 comprises several state sensors of different types.
  • the state sensor 12 comprises the angle sensor 18 and the speed or acceleration sensor 20 of the rail vehicle 1.
  • the state sensor 12 comprises a single sensor or several sensors. same type.
  • the rail vehicle 1 comprises several state sensors 12.
  • the memory 14 of the control system 4 comprises a database 22 in which are recorded data relating to one or more routes on which / which the railway vehicle 1 is likely to travel.
  • the database 22 comprises a digital map of the route comprising geographical positions of the route, and timetables for the journey of the rail vehicle 1.
  • the database 22 comprises, at each of a plurality of waypoints successive along the planned route, a schedule at which the rail vehicle is expected at that point.
  • the memory 14, and more particularly the database 22, further comprises, for example, statistical data of a power requirement as a function of the position of the rail vehicle 1.
  • the statistical data are for example data previously recorded and are for example derived from simulations, tests or journeys previously carried out.
  • the control device 16 is integrated for example in a computer (not shown).
  • the control device 16 is at least partially in the form of software executable by a processor and stored in a memory of the computer.
  • control device 16 is integrated, at least partially, in a physical device, such as for example a programmable logic circuit, such as an FPGA (standing for “Field Programmable Gâte Array”), or in the form of a dedicated integrated circuit, such as an ASIC (standing for “Application Specific Integrated Circuit”).
  • a programmable logic circuit such as an FPGA (standing for “Field Programmable Gâte Array”)
  • ASIC Application Specific Integrated Circuit
  • the control device 16 comprises an estimation module 24, a determination module 26, an adaptation module 30 and a transmission module 32.
  • the control device 16 further comprises a control module. restriction 28.
  • the estimation module 24 is configured to estimate a traction power requirement of the rail vehicle 1 as a function of at least one position signal of the rail vehicle 1.
  • the estimation module 24 is configured to receive from the position sensor 10 a position signal comprising the current geographical position of the railway vehicle 1. The estimation module 24 is thus configured to use the current geographical position of the railway vehicle. 1 to estimate a traction power requirement of the rail vehicle 1.
  • the estimation module 24 is configured to receive statistical data of a power requirement as a function of the position of the rail vehicle 1 from the database 22.
  • the estimation module 24 is configured to search for the position. geographical data of the railway vehicle 1 received from the position sensor 10 in the statistical data and thus estimate a current power requirement of the railway vehicle 1, as a function of the statistical data relating to the geographical position of the railway vehicle 1.
  • the determination module 26 is configured to determine a required operating state of each engine 2 of the rail vehicle 1 as a function of the traction power requirement as estimated by the estimation module 24.
  • An operating state of a motor 2 comprises a binary state of the motor 2 concerned, namely the fact that the motor 2 concerned is on or off. According to one example, the operating state further comprises a rotational speed of the engine 2, also called the number of revolutions of the engine 2.
  • a required operating state is the operating state of the relevant engine 2 which is required at a given time.
  • the determination module 26 is configured to receive the power requirement and to output the required operating state of each motor 2.
  • the restriction module 28 is configured to define a minimum duration of stopping and / or operation of each motor 2 and to transmit the minimum duration of stopping and / or operation of each motor 2 to the adaptation module 30.
  • the minimum duration is the period of time during which the engine 2 concerned is forced to remain on or off, that is to say in particular to remain in the same operating state.
  • the restriction module 28 is in particular configured to define the minimum stopping / operating time as a function of data relating to previous stoppages or ignitions of the engine 2 concerned.
  • the restriction module 28 is configured to receive as input each modification of the operating state of each engine 2, and configured to store each modification of the operating state for a predefined storage period, for example for ten. minutes.
  • the restriction module 28 is configured to force the motor 2 to remain in its current operating state.
  • the restriction module 28 is further configured to remove such a constraint from an engine 2 concerned, for example from the moment in which the operating state of the engine has been modified a number of times less than the defined threshold, during the storage period considered from this moment.
  • the restriction module 28 is in particular configured to prevent the same engine 2 from being stopped and turned on repeatedly.
  • the restriction module 28 is configured to define that an engine 2 must, after ignition, remain operating for at least one minute, and / or when it is stopped, that it must remain stopped for at least one minute. minus a minute.
  • the restriction module 28 is configured to determine a maximum number of motors 2 which are stopped during a predefined period of time and to transmit the maximum number to the adaptation module 30.
  • the restriction module 28 is an optional module.
  • the adaptation module 30 is configured to determine, from the required operating state of each engine 2, an adapted operating state of said engine 2 as a function of the specific parameter relating to the operation of the railway vehicle 1.
  • the adapted operating state is the modified operating state to take into account the specific parameter.
  • the adaptation module 30 is configured to receive as input the required operating state and the specific parameter, for example from the state sensor (s) 12.
  • the adaptation module 30 is for example configured to receive the command. acceleration or deceleration generated in response to actuation of a command by the driver of the rail vehicle 1.
  • the specific parameter at the input of the adaptation module 30 comprises an acceleration / deceleration command and also an acceleration / deceleration measurement of the rail vehicle 1.
  • the specific parameter comprises only the one of acceleration / deceleration control and acceleration / deceleration measurement.
  • the adaptation module 30 is configured to determine the suitable operating state furthermore as a function of the minimum stopping and / or operating duration of each motor 2 received from the restriction module 28.
  • the adaptation module 30 is configured to determine the operating state further adapted as a function of the maximum number received from the restriction module 28.
  • the transmission module 32 is for example configured to receive the adapted operating state of each motor 2 of the adaptation module 30.
  • the transmission module 32 is configured to send a control signal to each motor 2.
  • the control signal comprises an order of the adapted operating state of each motor 2 received from the adaptation module 32.
  • the order of the adapted operating state is configured to control the operation of each motor 2 in the adapted operating state of said motor 2.
  • the order of the adapted operating state is a start or stop command of at least one of the motors 2 and / or an order to modify a speed of rotation of at least one of the motors 2.
  • the transmitting module 32 is configured to issue orders to start or stop motors 2 individually, and / or to change the frequency of rotation of each of the motors 2 individually.
  • control method is implemented by the control system 4, and in particular by the control device 16.
  • the control method comprises an estimation step, a determination step, an adaptation step, a restriction step and an emission step.
  • the estimation module 24 estimates the traction power requirement of the rail vehicle 1 as a function of at least one position signal of the rail vehicle 1.
  • the estimation module 24 receives from the position sensor 10 a position signal comprising the current geographical position of the railway vehicle 1.
  • the estimation module 24 uses the geographical position of the railway vehicle 1 to estimate a power requirement of traction of the railway vehicle 1.
  • the estimation module 24 also receives statistical data of the power requirement as a function of the position of the railway vehicle 1 from the database 22.
  • the estimation module 24 searches for the geographical position of the received railway vehicle 1. of the position sensor 10 in the statistical data and thus estimates a current power requirement of the railway vehicle 1, further based on the statistical data.
  • the figure 2 represents an example of a need for power B over time t.
  • the power requirement B is estimated by the estimation module 24.
  • the power requirement B is for example of the order of several kilowatts (kW).
  • the railway vehicle 1 comprises four motors 2 of equivalent power.
  • a nominal traction power P of the four motors 2 combined is defined as a power of 100%, each motor 2 thus being configured to provide 25% of the nominal traction power.
  • the estimated power requirement B increases to approximately 60%.
  • the railway vehicle 1 is accelerated or is positioned on an uphill slope, and the statistical data thus indicating a high power requirement on this slope.
  • the power requirement drops from about 50% to about 40%, for example in response to a downward slope of the rail track.
  • the power requirement increases to approximately 87% at its maximum value and then drops between t4 and t5, then between t5 and 6 to a value of approximately 30%.
  • the power requirement B increases again to around 70%, for example following an uphill slope in the route of the rail vehicle 1.
  • the determination module 26 determines a required operating state of each motor 2 as a function of the power requirement.
  • the determination module 26 receives the power requirement and outputs the required operating state of each motor 2 as an output.
  • the determination module 26 determines the required operating state as follows.
  • the determination module 26 is configured to determine the required operating state "on” of three motors 2, and the required operating state “stopped” of the fourth motor 2. The power supplied is thus 75% of the nominal power.
  • the determination module 26 determines the required operating state "on” of two motors 2, and the required operating state “off” of the other two. motors 2 (period between t1 and t2). Other examples are possible.
  • the determination module 26 determines the speed of rotation of each motor 2 on. For example, when the received power requirement is 87% of the nominal power (period between t3 and t4), the determination module determines the nominal speed of rotation for three motors 2 and half of the nominal speed for a fourth motor. 2 (corresponding to 12.5% of the nominal power), to arrive at a traction power of 87.5%. Other combinations are possible.
  • the restriction module 28 defines a minimum duration of stopping and / or operation of each motor 2 and transmits the minimum duration of stopping and / or operation of each motor 2 to the module of adaptation 30.
  • the restriction module 28 determines a maximum number of motors 2 which are stopped during a predefined period of time and transmits the maximum number to the adaptation module 30.
  • the restriction module 28 defines for example the minimum stopping / operating time as a function of data relating to previous stoppages or ignitions of the engine 2 concerned. For example, the restriction module 28 receives as input each modification of the operating state of each motor 2, and stores each modification of the operating state for a period of preset storage, for example for ten minutes. When the engine 2 concerned has for example been switched on or stopped a number of times greater than or equal to a defined threshold, for example twice, during the storage period, the restriction module 28 forces the engine 2 to remain in its state of. current operation. The restriction module 28 removes such a constraint from an engine 2 concerned, for example from the moment in which the operating state of the engine has been modified a number of times less than the defined threshold, during the storage period considered from this moment.
  • the restriction module 28 in particular prevents the same engine 2 from being stopped and turned on repeatedly.
  • the restriction module 28 defines that an engine 2 must, after ignition, remain operating for at least one minute, and / or when it is stopped, that it must remain stopped for at least one minute.
  • the determination by the restriction module 28 of a maximum number of motors 2 that can be stopped during a predefined period of time allows the latter to prevent too high a number of motors 2 being stopped and not being stopped. cannot be switched on when traction power is required, due to the minimum stopping time defined for these motors 2.
  • the adaptation module 30 determines, from the required operating state of each motor 2, the adapted operating state of said motor 2 as a function of the specific parameter (s) relating to the operation of the railway vehicle 1.
  • the adaptation module 30 receives as input the required operating state and the specific parameter, for example from the state sensor (s) 12.
  • the adaptation module 30 receives for example the acceleration or deceleration command. generated in response to an actuation of a command by the driver of the rail vehicle 1.
  • the adaptation module 30 modifies the required operating state as a function of the acceleration command. For example, when the rail vehicle 1 is late in relation to the planned times of a trip and the driver wishes to move faster, it gives an acceleration command, thereby resulting in an increase in the need for power B. As a result , for example, the adaptation module 30 is configured to modify the “stopped” operating state of at least one motor 2 in the “on” operating state, called the adapted operating state.
  • the adaptation module 30 determines the suitable operating state in addition as a function of the minimum stopping and / or operating time of each motor 2 received from the restriction module 28.
  • the adaptation module 30 determines the adapted operating state in addition as a function of the maximum number received from the restriction module 28.
  • the transmission module 32 sends the control signal to each engine 2, the control signal comprising an order of the suitable operating state of each engine 2 received during the adaptation step.
  • the order of the adapted operating state controls the operation of each motor 2 in the adapted operating state of said motor 2.
  • control device 16 makes it possible to obtain control of the traction motors 2 of the railway vehicle 1 so as to extend the life of the motors 2 and / or reduce fuel consumption. Indeed, the running time of the motors 2 is reduced, as can be seen in the example of figure 2 : in the period from t0 to t7, all motors 2 are only switched on in the period between t3 and t4.
  • control device 16 makes it possible to stop certain engines 2 when the power requirement is low, the engine or engines 2 which are switched on are configured to operate at an optimum rotational speed in terms of fuel consumption.
  • control device 16 makes it possible to prevent the motors from rotating at a low speed of rotation, such a low speed leading to high consumption and / or high wear of the motors 2.
  • control device 16 makes it possible to anticipate the need for power, in particular thanks to the estimation module 24.
  • the driver of the rail vehicle 1 remains in control of the rail vehicle 1, due to the fact that the adaptation module 30 makes it possible to adapt the operating state of the engines 2 as a function of the specific parameter relating to the operation comprising for example the acceleration or deceleration command generated in response to an actuation of the gear lever by a driver of the rail vehicle 1.
  • the actuation of the gear lever is for example measured by the angle sensor 18.
  • the control device 16 thus makes it possible to monitor the driver's requirements (acceleration and deceleration), and to reduce fuel consumption and / or extend the life of the engines.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP20212495.4A 2019-12-10 2020-12-08 Steuergerät, steuersystem, eisenbahnfahrzeug und zugehörige steuerungsmethode Pending EP3835566A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1914020A FR3104118B1 (fr) 2019-12-10 2019-12-10 Dispositif de contrôle, système de contrôle, véhicule ferroviaire et procédé de contrôle associés

Publications (1)

Publication Number Publication Date
EP3835566A1 true EP3835566A1 (de) 2021-06-16

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EP20212495.4A Pending EP3835566A1 (de) 2019-12-10 2020-12-08 Steuergerät, steuersystem, eisenbahnfahrzeug und zugehörige steuerungsmethode

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Country Link
US (1) US11667310B2 (de)
EP (1) EP3835566A1 (de)
CN (1) CN112943460B (de)
FR (1) FR3104118B1 (de)

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DE202017105323U1 (de) * 2017-09-05 2017-09-25 Man Diesel & Turbo Se Steuerungseinrichtung zum Betreiben eines Systems aus mehreren Brennkraftmaschinen

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CN112943460A (zh) 2021-06-11
FR3104118B1 (fr) 2023-01-06
US20210171073A1 (en) 2021-06-10
FR3104118A1 (fr) 2021-06-11
US11667310B2 (en) 2023-06-06

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