EP4339072A1 - Procédé de détermination d'au moins un paramètre de régulation pour un système ato - Google Patents

Procédé de détermination d'au moins un paramètre de régulation pour un système ato Download PDF

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Publication number
EP4339072A1
EP4339072A1 EP22196272.3A EP22196272A EP4339072A1 EP 4339072 A1 EP4339072 A1 EP 4339072A1 EP 22196272 A EP22196272 A EP 22196272A EP 4339072 A1 EP4339072 A1 EP 4339072A1
Authority
EP
European Patent Office
Prior art keywords
train
control
control value
determined
automatically
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
EP22196272.3A
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German (de)
English (en)
Inventor
Michael Fruhnert
André Angierski
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.)
Siemens Mobility GmbH
Original Assignee
Siemens Mobility GmbH
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 Siemens Mobility GmbH filed Critical Siemens Mobility GmbH
Priority to EP22196272.3A priority Critical patent/EP4339072A1/fr
Publication of EP4339072A1 publication Critical patent/EP4339072A1/fr
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
    • B61L15/0072—On-board train data handling
    • 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
    • B61L15/0058—On-board optimisation of vehicle or vehicle train operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation

Definitions

  • the invention relates to a method for determining at least one control parameter for an ATO system for a train with at least one locomotive, a device, a train, a computer program and a machine-readable storage medium.
  • ATO Automatic Train Operation
  • the train control is completely or partially taken over by the trip computer.
  • ATO systems require control parameters based on which they control the train or locomotive. Control parameters that work for a particular move may not work for another move and vice versa.
  • the object on which the invention is based is to provide a concept for efficiently determining at least one control parameter for an ATO system for a train with at least one locomotive.
  • a device which is set up to carry out all steps of the method according to the first aspect.
  • a train with at least one locomotive comprising the device according to the second aspect.
  • a computer program which comprises instructions which, when the computer program is executed by a computer, for example by the device according to the second aspect and/or by the train according to the third aspect, cause the computer to carry out a method according to the first aspect to carry out.
  • a machine-readable storage medium is provided on which the computer program according to the fourth aspect is stored.
  • the invention is based on and includes the knowledge that the above task is solved by automatically determining the at least one control parameter. This means that the individual procedural steps are carried out automatically. Once the process has started, it runs automatically. The at least one control parameter can thus be determined efficiently and in a time-saving manner.
  • train A synonym for the term “train” is the term “train composition” or the term “train composition” or the term “rail vehicle”.
  • train therefore refers in particular to a train composition comprising at least one locomotive and one or more cars.
  • detecting a reaction of the train to the output of the at least one control value includes measuring at least one kinematic variable of the train, wherein the at least one control parameter is automatically determined based on the at least one measured kinematic variable of the train.
  • a kinematic quantity of the train includes, for example, one of the following kinematic quantities: jerk, acceleration, speed and location.
  • the train control system comprises a drive system in order to control the drive system based on the at least one output control value, so that the automatic detection of a reaction of the train to the output of the at least one control value automatically detects a reaction of the train includes controlling the drive system based on the at least one output control value.
  • the train control system comprises a braking system in order to control the braking system based on the at least one output control value, so that the automatic detection of a reaction of the train to the output of the at least one control value automatically detects a reaction of the train includes controlling the braking system based on the at least one output control value.
  • the at least one control value is automatically determined based on a static and/or dynamic control value limit in such a way that the determined control value does not exceed or fall below the respective control value limit depending on whether the respective control value limit is an upper or lower value represents the lower limit for a determined control value.
  • a static control value limit is preferably specified by a permanently configured limit or limits.
  • the determined control value can, for example, be between -100% (lower control value limit) and +100% (upper control value limit), whereby -100% refers to the maximum possible operational value Braking force and +100% refer to the maximum possible operational driving force.
  • the determined control value may, for example, be equal to the upper and/or the lower control value limit.
  • Restrictions of a dynamic nature i.e. a dynamic control value limit value, take into account, for example, the current train state, such as the speed, acceleration and/or jerk of the train, and take into account, for example, one or more expected gradients of speed, acceleration and/or jerk on the train's route.
  • a dynamic control value limit is, for example, variable over time and is particularly suitable, among other things, for detecting and preventing a oscillating or otherwise borderline condition in the train.
  • a dynamic control value limit is based, for example, on a current and/or future train state.
  • a dynamic control value limit is determined, for example, during execution of the method.
  • a dynamic control value limit is determined based on a current and/or future train state.
  • a train state of the train indicates the following: speed, acceleration and/or jerk.
  • control value limit represents a lower limit for a determined control value
  • the at least one control value is automatically determined in such a way that the determined control value does not fall below the control value limit.
  • control value limit represents an upper limit for a determined control value
  • the at least one control value is automatically determined in such a way that the determined control value does not exceed the control value limit.
  • the at least one control value is based on a control value interval is automatically determined in such a way that the determined control value is an element of the control value interval.
  • the control value interval is, for example, an open interval or is, for example, a closed interval or is, for example, a half-open interval. With a half-open interval, the lower limit or the upper limit still belongs to the interval.
  • a model of the train is automatically determined based on the detected reaction, wherein the at least one control parameter is automatically determined based on the determined model of the train.
  • the determined model corresponds to a predetermined model structure or is based on the predetermined model structure.
  • model description and a controller design based on it can also be simplified, i.e. can be made as a first approximation.
  • the specified model structure completely describes the equations of motion on which the model is based and thus, for example, sets limits for the method within which it can carry out parameterization.
  • model identification is not restricted, complex dynamics can flow into the model, for example, which makes the later automatic determination of the control parameters more difficult. This is efficiently prevented in an advantageous manner by this embodiment, so that a later automatic determination of the control parameters is simplified.
  • the method is carried out for several trains, with a respective control parameter common to the several trains being determined based on the at least one control parameter determined in each case.
  • the respective determined models of the respective trains are merged into a common model, with the respective common control parameter being determined based on the merged common model.
  • the respective common control parameter is the same for every train and can be used for all trains.
  • this is a computer-implemented method.
  • Process features result analogously from corresponding device features and/or train features and vice versa. This means that technical functionalities of the method result analogously from corresponding technical functionalities of the device and/or the train or vice versa.
  • the method is carried out or carried out by means of the device according to the second aspect and/or by means of the train according to the third aspect.
  • the train is set up to carry out all steps of the method according to the first aspect.
  • the device it is provided that it is an ATO system, wherein the ATO system is set up to automatically determine its own at least one control parameter.
  • the train includes the train control system.
  • the locomotive includes the train control system.
  • Statements made in connection with one control parameter apply analogously to several control parameters and vice versa.
  • Statements made in connection with one locomotive apply analogously to several locomotives and vice versa.
  • ATO Automatic Train Operation
  • Automated driving operation refers to a train operation in which the train control is taken over in whole or in part by a train running computer, i.e. by an ATO system.
  • an ATO system configuration is determined based on the at least one control parameter.
  • the ATO system configuration includes, for example, the control parameter(s) determined.
  • an ATO system configuration is determined based on the at least one control parameter.
  • the ATO system configuration includes, for example, the control parameter(s) determined.
  • FIG 2 shows a device 201 that is set up to carry out all steps of the method according to the first aspect.
  • the device 201 is, for example, an ATO system.
  • the ATO system is set up to automatically determine at least one of its own control parameters.
  • FIG 3 shows a train 301, the train 301 comprising a locomotive 303.
  • the locomotive 303 includes the device 201 FIG 2 .
  • the train 301 further includes a car 305, which is coupled to the locomotive 303.
  • the train further includes a train control system 307, which can be controlled by the device 201.
  • FIG 4 shows a machine-readable storage medium 401 on which a computer program 403 is stored.
  • the computer program 403 includes instructions that, when the computer program is executed by a computer, cause the computer to carry out a method according to the first aspect.
  • FIG 5 shows a first block diagram 501, which is intended to explain the concept described here by way of example.
  • a functional block 505 is executed. According to function block 505, the steps of automatically determining at least one control value, automatically outputting the at least one determined control value and automatically detecting a reaction of the train to the output of the at least one control value are carried out.
  • steps are carried out in the real world 507, i.e. directly on the train itself, in particular using the ATO system of the train.
  • the fact that these steps are carried out within a secured zone 503 means, for example, that a control value limit or several control value limit values are specified and/or that a control value interval or several control value intervals are specified, so that the determined control values are each elements of the corresponding control value interval or that the determined control values do not exceed or fall below the control value limit depending on whether the control value limit represents an upper or a lower limit for a determined control value.
  • a model 508 of the train is automatically determined according to the function block 505 and sent to a computing unit 509.
  • a further function block 511 is executed, according to which the at least one control parameter 512 is automatically determined based on the model 508 of the train.
  • an ATO configuration 513 is determined and output. Based on this ATO configuration 513, which includes the at least one determined control parameter 512, the ATO system of the train can then control the train control system of the train.
  • the computing unit 509 or parts thereof can be implemented, for example, in a cloud infrastructure or alternatively or additionally implemented on the train side.
  • the computing unit 509 can be implemented in or be a device according to the second aspect.
  • the computing unit 509 can be, for example, the train's ATO system.
  • FIG 6 shows a second block diagram 601, which is intended to explain the concept described here by way of example.
  • a first ATO system 603, a second ATO system 605 and a third ATO system 607 are provided, each for their train according to The concept described here automatically determines a model of the train. So the first ATO system 603 determines a first model 609 and so the second ATO system 605 determines a second model 611 and so the third ATO system 607 determines a third model 613. These three models 609, 611, 613 of the different trains are merged into a common model 615, especially taking into account a certain parameter uncertainty.
  • common control parameters for the ATO systems 603, 605, 607 are determined. These common control parameters are symbolically marked by a square with the reference number 617. These common control parameters 617 are made available to the ATO systems 603, 605, 607 so that they can control the respective train control system based on these common control parameters 617. For example, a robust regulation of train control can be achieved. For example, a controller can be created that works for a class of systems (the different trains).
  • control values control values
  • train's reaction to them the ATO system will independently determine various setpoints (control values), in particular select from a large number of control values, and measure the train's reaction to them.
  • operation of the train is monitored in order to carry out the method.
  • interventions will be carried out if, for example: specified acceleration limits are exceeded (protection zone or secured zone 503 in accordance with FIG 5 ).
  • the train's ATO system can initially carry out a series of tests independently.
  • the execution of these tests for example, is also completely automated, and the ATO software can, for example, independently create a vehicle model of the train, i.e. without human interaction.
  • the reinforcements can be selected autonomously based on rule sets and the train can be put into operation. This brings with it a clear time advantage and an enormous simplification of the process.
  • control parameters for a train have been determined.
  • further control parameters can be determined based on them that work sufficiently well for two, three or a hundred (slightly) dynamically different trains. This allows you to benefit from scaling aspects.
  • several ATO systems from the different trains can each carry out the method individually, with common control parameters for the ATO systems being determined based on the vehicle models determined in each case and/or based on the control parameters determined individually.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP22196272.3A 2022-09-19 2022-09-19 Procédé de détermination d'au moins un paramètre de régulation pour un système ato Pending EP4339072A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22196272.3A EP4339072A1 (fr) 2022-09-19 2022-09-19 Procédé de détermination d'au moins un paramètre de régulation pour un système ato

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22196272.3A EP4339072A1 (fr) 2022-09-19 2022-09-19 Procédé de détermination d'au moins un paramètre de régulation pour un système ato

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EP4339072A1 true EP4339072A1 (fr) 2024-03-20

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012063439A1 (fr) * 2010-11-09 2012-05-18 Kabushiki Kaisha Toshiba Système de réglage de train
JP2019098846A (ja) * 2017-11-30 2019-06-24 株式会社東芝 誤差算出装置および誤差算出システム
US20220194446A1 (en) * 2020-12-21 2022-06-23 Progress Rail Services Corporation System and method for scoring train runs

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012063439A1 (fr) * 2010-11-09 2012-05-18 Kabushiki Kaisha Toshiba Système de réglage de train
JP2019098846A (ja) * 2017-11-30 2019-06-24 株式会社東芝 誤差算出装置および誤差算出システム
US20220194446A1 (en) * 2020-12-21 2022-06-23 Progress Rail Services Corporation System and method for scoring train runs

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