Claims (8)
1. Metoda za kooperativno upravljanje više vlakova korištenjem virtualne spojke, sadrži:
prvo, postizanje ubrzanja spojenog vlaka ka upravljanom vlaku, razliku vrijednosti u brzini između spojenog vlaka i upravljanog vlaka, i razmaka redundancije između spojenog vlaka i upravljanog vlaka;
pri čemu je udaljenost redundancije Δxi razlika udaljenosti između vlaka i i položaja D(vi, vi-1) nakon vlaka i-1, te je dopuštena redundantna udaljenost između vlaka i i vlaka i-1, gdje je Δxi =xi-(xi-1-D(vi,vi-1)), xi je položaj glave vlaka i, vi je brzina vlaka i, vlak i je upravljani vlak, vlak i-1 je vlak koji neposredno prethodi vlaku koji odgovara vlaku uz upravljani vlak, a položaj D(vi,vi-1) je idealna udaljenost koju treba održavati između dva vlaka kada je brzina vožnje vlaka i je vi, a brzina vožnje vlaka i-1 je vi-1;
drugo, određivanje vrijednosti razlike ubrzanja između vlaka koji se nalazi uz upravljani vlak i upravljanog vlaka, prema vrijednosti razlike u brzini između vlaka koji se nalazi uz upravljani vlak i upravljanog vlaka, i udaljenosti redundancije između vlaka u blizini upravljanog vlaka i upravljanog vlaka;
određivanje ubrzanja upravljanog vlaka prema vrijednosti razlike ubrzanja i akceleracije vlaka uz upravljani vlak; i
konačno, podešavanje brzine upravljanog vlaka prema utvrđenom ubrzanju upravljanog vlaka; pri čemu upravljani vlak i vlak spojen s upravljanim vlakom komuniciraju putem bežične komunikacije.1. The method for cooperative control of multiple trains using a virtual coupling, contains:
first, achieving the acceleration of the coupled train to the controlled train, the difference in speed between the coupled train and the controlled train, and the redundancy distance between the coupled train and the controlled train;
where the redundancy distance Δxi is the distance difference between train i and position D(vi, vi-1) after train i-1, and the redundant distance between train i and train i-1 is allowed, where Δxi =xi-(xi-1- D(vi,vi-1)), xi is the position of the head of train i, vi is the speed of train i, train i is the controlled train, train i-1 is the train immediately preceding the train corresponding to the train next to the controlled train, and the position D( vi,vi-1) is the ideal distance to be maintained between two trains when the traveling speed of train i is vi, and the traveling speed of train i-1 is vi-1;
secondly, determining the value of the acceleration difference between the train located next to the controlled train and the controlled train, according to the value of the speed difference between the train located next to the controlled train and the controlled train, and the redundancy distance between the train in the vicinity of the controlled train and the controlled train;
determining the acceleration of the controlled train according to the value of the difference between the acceleration and the acceleration of the train with the controlled train; and
finally, adjusting the speed of the controlled train according to the determined acceleration of the controlled train; wherein the controlled train and the train connected to the controlled train communicate via wireless communication.
2. Metoda za kooperativno upravljanje više vlakova korištenjem virtualne spojke prema zahtjevu 1, pri čemu je vrijednost razlike ubrzanja Δai između spojenog vlaka na upravljani vlak i upravljanog vlaka specifično određena kao:
[image]
pri čemu,
i=2,3,...,N;
max() znači uzeti maksimalnu vrijednost između dva ili više;
v̂ i je vrijednost razlike između brzine vi upravljanog vlaka i brzine vi-1 vlaka pojenog supravljanim vlakom, v^i = vi -vi-1;
aacc_max je maksimalno ubrzanje vožnje vlaka;
abreak_c je uobičajeno ubrzanje kočenja vlaka;
ai-1 je stvarno ubrzanje spojenog vlaka na kontrolirani vlak; xm je odstupanje udaljenosti kada sila upravljanja vlakom dosegne maksimum; kontrolno ubrzanje ai upravljanog vlaka posebno je određeno kao:
[image] 2. A method for cooperative control of multiple trains using a virtual coupling according to claim 1, wherein the value of the acceleration difference Δai between the coupled train to the controlled train and the controlled train is specifically determined as:
[image]
whereby,
i=2,3,...,N;
max() means to take the maximum value between two or more;
v̂ i is the value of the difference between the speed vi of the controlled train and the speed vi-1 of the train driven by the co-controlled train, v^i = vi -vi-1;
aacc_max is the maximum acceleration of the train;
abreak_c is the usual train braking acceleration;
ai-1 is the actual acceleration of the connected train to the controlled train; xm is the distance deviation when the train control force reaches its maximum; the control acceleration of the controlled train is specifically determined as:
[image]
3. Metoda za kooperativno upravljanje više vlakova korištenjem virtualne spojke prema zahtjevu 1 ili 2, naznačena time, da se idealna udaljenost između vlaka spojenog na upravljani vlak i upravljanog vlaka određuje prema sigurnosnoj udaljenosti između vlaka spojenog na upravljani vlak i upravljanog vlaka, zajedničkog puta kočenja upravljanog vlaka i hitnog puta kočenja vlaka spojenog na upravljani vlak.3. A method for cooperative control of multiple trains using a virtual coupling according to claim 1 or 2, characterized in that the ideal distance between the train connected to the controlled train and the controlled train is determined according to the safety distance between the train connected to the controlled train and the controlled train, the common braking path of the controlled train and the emergency braking path of the train connected to the controlled train.
4. Metoda za kooperativno upravljanje više vlakova korištenjem virtualne spojke prema zahtjevu 3, naznačena time što se zajednički put kočenja upravljanog vlaka dobiva ispitivanjem stvarnih parametara vlaka.4. A method for cooperative control of multiple trains using a virtual clutch according to claim 3, characterized in that the common braking path of the controlled train is obtained by examining the actual parameters of the train.
5. Metoda za kooperativno upravljanje više vlakova korištenjem virtualne spojke u skladu s bilo kojim od patentnih zahtjeva 3 do 4, naznačena time, da se hitni put kočenja vlaka koji je spojen na upravljani vlak dobiva ispitivanjem stvarnih parametara vlaka.5. A method for cooperative control of multiple trains using a virtual coupling according to any one of claims 3 to 4, characterized in that the emergency braking path of the train connected to the controlled train is obtained by examining the actual parameters of the train.
6. Metoda za kooperativno upravljanje više vlakova korištenjem virtualne spojke u skladu s bilo kojim od patentnih zahtjeva 3 do 4, naznačena time što je sigurnosna udaljenost određena prema vremenu reakcije kočnice, kašnjenju obrade i prijenosa signala te brzinama spojenog vlaka na upravljani vlak i upravljanog vlaka.6. A method for cooperative control of multiple trains using a virtual coupling in accordance with any one of claims 3 to 4, characterized in that the safety distance is determined according to the brake reaction time, the signal processing and transmission delay, and the speeds of the connected train to the controlled train and the controlled train .
7. Metoda za kooperativno upravljanje više vlakova korištenjem virtualne spojke prema zahtjevu 6, naznačena time da je
sigurnosni razmak= (vrijeme reakcije kočnice + obrada signala i kašnjenje prijenosa) x kontrolirana brzina vlaka x faktor sigurnosti7. A method for cooperative control of multiple trains using a virtual coupling according to claim 6, characterized in that
safety gap = (brake reaction time + signal processing and transmission delay) x controlled train speed x safety factor
8. Metoda za kooperativno upravljanje više vlakova korištenjem virtualne spojke koja sadrži
kontrolni centar, konfiguriran za praćenje operativnog stanja skupine vlakova u stvarnom vremenu; upravljani vlak i spojeni vlak na upravljani vlak; pri čemu upravljani vlak sadrži:
jedinicu za dobivanje informacija, konfiguriranu za dobivanje ubrzanja spojenog vlaka na upravljani vlak, vrijednosti razlike u brzini između spojenog vlaka na upravljani vlak i upravljanog vlaka i udaljenosti između spojenog vlaka na upravljani vlak i upravljanog vlaka;
pri čemu je udaljenost redundancije Δxi razlika udaljenosti između vlaka i i položaja D(vi, vi-1) nakon vlaka i-1, te je dopuštena redundantna udaljenost između vlaka i i vlaka i-1, gdje je Δxi =xi-(xi-1-D(vi, vi-1)), xi je položaj glave vlaka i, vi je brzina vlaka i, vlak i je upravljani vlak, vlak i-1 je vlak koji neposredno prethodi vlaku koji odgovara spojenom vlaku uz upravljani vlak, a položaj D(vi,vi-1) je idealna udaljenost koju treba održavati između dva vlaka kada je brzina vožnje vlaka vi i brzina vožnje vlaka i-1 je vi-1;
jedinicu za izračunavanje ubrzanja, konfiguriranu za određivanje vrijednosti razlike ubrzanja između spojenog vlaka na upravljani vlak i upravljanog vlaka prema vrijednosti razlike u brzini između spojenog vlaka na upravljani vlak i upravljanog vlaka, i udaljenosti redundantnosti između spojenog vlaka na upravljani vlak i upravljanog vlaka, pri čemu je jedinica za izračunavanje ubrzanja konfigurirana za određivanje ubrzanja upravljanog vlaka prema vrijednosti razlike ubrzanja i ubrzanja spojenog vlaka na upravljani vlak;
jedinicu za podešavanje brzine, konfiguriranu za podešavanje brzine upravljanog vlaka prema utvrđenom ubrzanju upravljanog vlaka;
komunikacijsku jedinica, konfiguriranu za obavljanje komunikacije između upravljanog vlaka i spojenog vlaka na upravljani vlak i komunikacije između upravljanog vlaka i kontrolnog centra.8. A method for cooperative control of multiple trains using a virtual clutch containing
a control center, configured to monitor the operational status of a group of trains in real time; controlled train and connected train to controlled train; where the managed train contains:
an information acquisition unit configured to obtain the acceleration of the coupled train to the controlled train, the value of the speed difference between the coupled train to the controlled train and the controlled train, and the distance between the coupled train to the controlled train and the controlled train;
where the redundancy distance Δxi is the distance difference between train i and position D(vi, vi-1) after train i-1, and the redundant distance between train i and train i-1 is allowed, where Δxi =xi-(xi-1- D(vi, vi-1)), xi is the position of the head of train i, vi is the speed of train i, train i is the controlled train, train i-1 is the train that immediately precedes the train corresponding to the connected train next to the controlled train, and the position of D (vi,vi-1) is the ideal distance to be maintained between two trains when the traveling speed of train is vi and the traveling speed of train i-1 is vi-1;
an acceleration calculation unit configured to determine a value of the acceleration difference between the coupled train to the controlled train and the controlled train according to the value of the speed difference between the coupled train to the controlled train and the controlled train, and the redundancy distance between the coupled train to the controlled train and the controlled train, wherein is an acceleration calculation unit configured to determine the acceleration of the controlled train according to the value of the difference between the acceleration and the acceleration of the connected train to the controlled train;
a speed adjustment unit configured to adjust the speed of the controlled train according to the determined acceleration of the controlled train;
a communication unit, configured to perform communication between the controlled train and a train connected to the controlled train and communication between the controlled train and the control center.