JPH0690508A - Automatic train operating device - Google Patents

Abstract

PURPOSE:To satisfy restricting conditions such as a predetermined running time, a constant point stopping accuracy and the like and improve riding feeling by a method wherein a control parameter is regulated by a speed difference and a positional difference between a target speed pattern and an actual train. CONSTITUTION:A target pattern characteristics extracting unit 51 extracts characteristics such as the arraying condition and the sizes of accelerating divisions and the like of a target speed pattern reserved in a memory device, a margin with respect to a speed limit, a distance to a constant point stopping point with respect to the position of the train and the like. A difference between the extracted characteristics and an actual speed as well as an actual position are operated by a fuzzy reasoning input operating unit 52. The operated amount of difference is minimized by a fuzzy reasoning unit 53 while the correcting value of a control parameter used in a command operating device is operated by a fuzzy rule data base 54, in which a fuzzy rule to increase the control parameter is preserved. According to this method, the operation of the optimum target speed pattern can be effected easily and riding feeling or the like can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic train operation device for a train driven by an electric motor.

[0002]

2. Description of the Related Art FIG. 7 is a block diagram showing a configuration of a conventional automatic train operation device. In the figure, 1 is a train formation on the ground,
Target speed pattern calculation device for calculating a target speed pattern of a train travel section from vehicle conditions such as vehicle weight and traction force characteristics, traveling conditions such as predetermined traveling time and predetermined traveling distance, and route information such as speed limits, slopes and curves 2, a storage device for storing the target speed pattern calculated on the ground on the vehicle, 3 a vehicle condition used for the calculation of the target speed pattern,
Auxiliary storage device 4 for storing conditions such as traveling conditions and route conditions necessary for calculating a traveling command that follows a target speed is input with information stored in storage device 2 and auxiliary storage device 3. It is a command calculation device for calculating a travel command at a travel point of a train from a train speed, speed limit information, and a distance correction signal.

Conventionally, in a target pattern following type automatic train operation device, a target speed pattern calculation device 1 calculates a target speed pattern on the ground in advance from operating conditions, running conditions and vehicle conditions of a section in which a train runs. Save in the storage device 2 on the car. While the train is running, the running condition (power running command, running command, brake command) that follows the target speed pattern stored in the storage device 2 by the command computing device 4 is stored in the auxiliary storage device 3, vehicle conditions, running Proportional-integral control is performed based on conditions, route conditions and security signals, speed signals, distance information calculated from speed signals, and distance correction signals from the ground, and commands are output to the drive control device and brake control device.

[0004]

In the automatic train operation device of the target speed pattern follow-up type as described above, the running command sent from the command calculation device 4 to the drive device and the brake device is a notch command, that is, a discrete signal. Therefore, when the target speed pattern is calculated on the ground, it may include a non-linear element and may not converge, or it takes a lot of time to obtain the optimum target pattern. Even when the target speed pattern is obtained, it takes a lot of time to adjust the control parameters when determining the travel command to follow the target speed pattern in the command calculation device in actual traveling. Since the parameters are uniquely determined, it is difficult to deal with disturbances such as changes in the boarding rate, and large errors such as speed, distance, and time may occur in the target speed pattern.

The present invention has been made in view of the above,
The purpose is to save energy and ride comfort by making it easy to calculate the target speed pattern on the ground and providing a control parameter adjustment function to correct the control parameters of the target speed pattern tracking control during actual driving. And to provide an automatic train operation device that satisfies constraints such as predetermined traveling time and fixed point stopping accuracy.

[0006]

In order to achieve the above object, an automatic train operation device of the present invention is an automatic train operation device for a train which determines a command notch so as to follow a target speed pattern, and which is provided in advance on the ground. In order to create the target speed pattern by using the retrograde curve and notch switching reference speed so as to satisfy the constraints such as mileage, travel time, speed limit, etc., using the energy consumption and riding comfort as the evaluation functions from the route data and vehicle conditions. Target speed pattern calculating means, storage means for storing the target speed pattern created by the target speed pattern calculating means on the vehicle, and auxiliary for storing route conditions and vehicle conditions used for calculating the target speed pattern The storage means, the actual train speed while the train is running, the actual train position, and the storage based on the information stored in the auxiliary storage means. Running command calculation means for determining a running command including a power running command, a running command, and a brake command that follows a target speed pattern stored in a step, and automatic adjustment of a control parameter for setting the running command with the target speed pattern. The gist of the present invention is to have a control parameter adjusting means that performs speed deviation and position deviation from the actual train.

[0007]

In the automatic train driving device of the present invention, the route data,
The target speed pattern is created in advance on the ground by using the retrograde curve and notch switching reference speed so that the constraint conditions are satisfied from the vehicle conditions by using the energy consumption and riding comfort as the evaluation functions, and the actual train speed and actual train speed A running command that follows the target speed pattern is determined based on information such as the train position and the route conditions and vehicle conditions stored in the auxiliary storage means, and the target speed pattern and the actual train are automatically adjusted by the control parameters for setting the running command. The speed deviation and position deviation with

[0008]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an automatic train operation system according to an embodiment of the present invention.

In FIG. 1, reference numeral 11 indicates a train traveling on the ground in advance based on train conditions, vehicle conditions such as vehicle weight and traction characteristics, traveling conditions such as a predetermined traveling time and a predetermined traveling distance, route information such as speed limits, slopes and curves. A target speed pattern calculation device for calculating the target speed pattern of the section, a storage device 12 for storing the target speed pattern calculated by the target speed pattern calculation device 11 on the vehicle, and a calculation target speed pattern 13 The auxiliary storage device for storing the conditions necessary for calculating the travel command that follows the target speed such as the vehicle condition, the travel condition, and the route condition used for the, 14 is the target speed pattern stored in the storage device 12. Is read according to the actual train position, and the target speed pattern and the actual train are considered in consideration of the vehicle conditions, running conditions, route conditions, etc. stored in the auxiliary storage device 13. Time, command calculation unit for determining a notch command for a train drive system from the deviation of the position,
15 is for adjusting the control parameters for notch command calculation by the speed of the target speed pattern, the distance, the running time and the speed of the actual train, the deviation of the distance and the running time, and the jerk which is the evaluation standard of the riding comfort of the actual train. It is a control parameter adjusting device.

The automatic train operation device calculates a target traveling pattern in advance on the ground from the vehicle information, the traveling information, and the route information in consideration of energy saving before traveling of the train. At that time, the target speed pattern calculation is a discrete system in which the running command is the notch command, and the numerical calculation method does not always converge and an optimal solution may not be obtained. While adjusting the upper limit speed using the retrograde curve and the notch switching reference speed,
A method of calculating a target travel pattern that satisfies a predetermined travel time, a predetermined travel distance, and a speed limit is used.

A specific algorithm of the target pattern calculation device 11 will be described with reference to FIG.

In the algorithm of FIG. 2, reference numeral 21 is input means for inputting route data and vehicle conditions, 22 is an evaluation function setting means for setting an evaluation function and changing the weight of the evaluation function, and 23 is a simulation of train running. A traveling simulation means, 25 is a time adjusting means for calculating a traveling pattern that protects the traveling time, 27 is a traveling pattern optimizing means for calculating a traveling pattern of a train that consumes less energy and has a good riding comfort, and 24 is a retrograde used for traveling simulation. A backward curve calculating means for drawing a curve, 26 is an upper limit speed adjusting means for adjusting the upper limit speed to match the traveling time, and 28 is a parameter adjusting means for adjusting the optimization parameter so that the target speed pattern is optimum.

In the present algorithm, the traveling means 21 causes the predetermined traveling distance between stations, the predetermined traveling time between stations, the speed limit,
Inputs route data such as route conditions (curves, slopes), train formation, train weight, passenger capacity, traction characteristics, and other vehicle data. The evaluation function setting unit 22 obtains a power consumption calculation formula for calculating an energy saving pattern from the data input from the input unit 21 and a formula regarding the number of times of notch switching as an index of ride comfort, and the evaluation function is obtained from both formulas. Set. The weight of the evaluation function is adjusted depending on whether energy saving or riding comfort is emphasized.

The running simulation means 23 preliminarily calculates a reverse curve as shown in FIG. 3 and simulates a train by using the reverse curve and the switching reference speed of the notch. The backward curve is the backward curve calculation means 2
According to 4, the travel curve when braking is applied from the point where the upper limit speed decreases and the end point, and the travel curve when powering is applied from the point where the upper limit speed rises are obtained in the opposite directions (reverse brake curve, reverse Power curve).

As the upper limit speed, the speed limit input by the input means 21 is used as an initial value. During the traveling simulation, when it crosses the retrograde curve, the vehicle travels along it. As a result, when the upper limit speed increases in the front, power running can be applied early to accelerate efficiently, when the upper limit speed decreases, it cannot be exceeded, and it is possible to reliably stop at a predetermined stop position. Notch switching reference speed is based on notch on and off, brake on, power off,
The four speeds, brake off and power on, are determined at a fixed ratio to the upper speed limit. When the speed reaches the brake on speed or the brake off speed during the traveling simulation, the brake notch is inserted and the power running notch is cut, respectively. When the speed falls below the brake-on speed or the power-on speed, insert the brake notch and turn off the power running notch, respectively. When the speed falls below the brake off speed or power on speed,
Turn off the brake notch and insert the power running notch. This makes it possible to keep the speed limit and prevent the vehicle from stopping before the stop point.

As a result of the traveling simulation, the input means 2
When the traveling time has a margin with respect to the traveling predetermined time input in 1, the traveling time is adjusted by the traveling time adjusting function of the time adjusting means 25. This is performed by repeatedly adjusting the upper limit speed and running simulation until the error of running time falls within the allowable range. Driving simulation
Since the vehicle is run at a speed as close to the upper limit speed as possible, if the upper limit speed is lowered, the maximum traveling speed is reduced and the traveling time is extended. The upper limit speed is adjusted by the upper limit speed adjusting means 26.
Decrease the upper limit speed of the convex portion. Since the pattern obtained by adjusting the time is uniquely determined for a set of notch switching reference speeds, the traveling pattern optimizing means 27 selects the notch switching reference speed as an adjustment parameter and adjusts it. The notch switching reference speed at which the evaluation function calculated by the evaluation function setting means 22 becomes the minimum is obtained by repeating the traveling simulation and the time adjustment. The parameter adjusting means 28 adjusts the notch switching reference speed.

With this algorithm, it is possible to obtain an energy-saving target speed pattern satisfying the conditions such as the predetermined traveling time, the predetermined traveling distance, the speed limit, and the riding comfort as shown in FIG.

The target speed pattern thus calculated is stored in the on-vehicle storage device 12 as a position-speed pattern.

While the train is running, as shown in FIG. 5, the command calculation unit 14 reads out the target speed corresponding to the position of the train from the target speed pattern stored in the storage unit 12, and stores it in the automatic train running unit. Auxiliary storage device 13 provided
In consideration of the speed limit, slope, curve, predetermined traveling time of the traveling train, predetermined traveling distance, and vehicle traction force characteristics stored in The running command (powering command, descent command, brake command) corresponding to the required traction force is calculated by the proportional-integral control using the set parameters, and the riding comfort of the train depends on the number of times the notch is switched. Therefore, notch change suppression processing is performed, and a notch command (current command value) is output to the train drive system. In addition, the command calculation device 14 calculates the target travel time with respect to the train position, and when the deviation between the travel time of the actual train and the target travel time exceeds a certain value, it is stored in the auxiliary storage device 13 in advance. When the switching process to the time correction pattern (speed pattern in which the traveling time is shortened at a certain constant rate with respect to the target speed pattern) is detected, and the ground element previously installed on the ground for fixed point stop is detected,
While assisting the position signal of the train, the control shifts to the fixed point stop control, and the brake notch command for stopping at the target stop point is calculated by the control based on the position deviation between the actual train and the target speed pattern.

In the case of performing the above-mentioned control, no problem will occur if the target speed pattern can be tracked with a control parameter uniquely set in advance, but the target is affected by disturbance such as a change in boarding rate. When there is a deviation between the speed pattern speed, traveling distance, traveling time and the actual train speed, traveling distance, traveling time, the control parameter adjustment device 15 adjusts the control parameter of the command calculation device 14.

In the control parameter adjustment device 15, as shown in FIG. 6, the target pattern feature extraction unit 51 causes the target velocity pattern acceleration section stored in the storage device 12,
Features such as elliptic section, arrangement of brake sections, size, margin for speed limitation, distance to fixed point stop point for train position, etc. are extracted, and the fuzzy inference input calculation unit 52 calculates actual train speed, position, travel time, Based on the characteristics of the pattern extracted by the target pattern characteristics extraction unit 51, the speed, position,
Calculate deviations such as running time. The fuzzy inference unit 53 calculates the correction value of the control parameter used by the command operation unit 14 by the fuzzy rule stored in the fuzzy rule database 54 so as to minimize the deviation amount calculated by the fuzzy inference input operation unit 52. .

Here, a case where the control parameter adjusting device 15 adjusts the control parameter when a speed deviation occurs will be described.

It is known from general control theory that the control parameter is larger than the optimum value when the speed of the actual train is higher than the speed of the target speed parameter. Performs a process to make the value smaller than the current value. That is, in the fuzzy rule database of the control parameter adjusting device 15, a rule of increasing the control parameter when the actual train speed is higher is stored in advance, and the value of the parameter is adjusted according to the rule.

When the speed of the actual train is low with respect to the speed of the target speed pattern, the control parameter is reduced in reverse to the above.

In addition to the position deviation and the speed deviation, the control parameter adjusting device 15 calculates the jerk which is the second differential of the actual train speed and monitors the value. The jerk is an index representing the riding comfort of the train, and when the jerk value is large, the control parameters are adjusted in the same manner as when the speed deviation occurs.

[0027]

As described above, according to the present invention,
For example, it is easy to calculate an optimum target speed pattern in consideration of a predetermined traveling time of a train traveling section, a predetermined traveling distance, a speed limit, energy saving, riding comfort, a slope of a traveling route, a curve, a traction force characteristic of a traveling train, and the like, While the train is running, it is possible to realize an automatic train operation device that has good followability to the target speed pattern, high followability to disturbance, and high fixed point stopping accuracy.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an automatic train operation device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing the configuration of a target pattern calculation device used in the automatic train operation device of FIG.

FIG. 3 is an explanatory diagram of a retrograde curve.

FIG. 4 is an explanatory diagram of a target speed pattern.

5 is a block diagram showing a configuration of a command calculation device used in the automatic train operation device of FIG. 1. FIG.

6 is a block diagram showing the configuration of a control parameter adjustment device used in the automatic train operation device of FIG. 1. FIG.

FIG. 7 is a block diagram showing a configuration of a conventional automatic train operation device.

[Explanation of symbols]

 11 Target Pattern Calculation Device 12 Storage Device 13 Auxiliary Storage Device 14 Command Calculation Device 15 Control Parameter Adjustment Device

Claims (1)

[Claims] 1. An automatic train operation device for a train, which determines a command notch so as to follow a target speed pattern, and which has traveled distance and traveled on the ground in advance based on route data and vehicle conditions, using energy consumption and riding comfort as evaluation functions. time,
A target speed pattern calculating means for creating a target speed pattern by using a backward curve and a notch switching reference speed so as to satisfy a constraint condition such as a speed limit, and a target speed pattern created by the target speed pattern calculating means. Storage means for storing on-board vehicle, auxiliary storage means for storing route conditions and vehicle conditions used for calculation of the target speed pattern, actual train speed during train running, actual train position and storage in the auxiliary storage means Of a running command including a power running command, a running command, and a braking command that follows the target speed pattern stored in the storage means based on the information stored, and a control parameter for setting the running command. A control parameter adjusting means for performing automatic adjustment based on a speed deviation and a position deviation between the target speed pattern and an actual train. Automatic train operation that.