KR20030054581A - electric train A.T.O. system and it's materialization method - Google Patents

electric train A.T.O. system and it's materialization method Download PDF

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KR20030054581A
KR20030054581A KR1020010084758A KR20010084758A KR20030054581A KR 20030054581 A KR20030054581 A KR 20030054581A KR 1020010084758 A KR1020010084758 A KR 1020010084758A KR 20010084758 A KR20010084758 A KR 20010084758A KR 20030054581 A KR20030054581 A KR 20030054581A
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South Korea
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automatic train
tachometer
train
automatic
control device
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KR1020010084758A
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Korean (ko)
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KR100483813B1 (en
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한성호
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한국철도기술연구원
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
    • 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
    • B61L15/0081—On-board diagnosis or maintenance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2201/00—Control methods

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

PURPOSE: An automatic train running system is provided to be capable of performing a backup function using speed information of a propulsion control apparatus when a tachometer is defective. CONSTITUTION: An automatic train running system comprises a train control and monitoring system(TCMS)(2) for transferring a final output value to a propulsion control device(1), an automatic train control(ATC)(3), a precision stop marker(PSM)(4), a train to wayside communication(TWC)(5), and a tachometer(6). The TCMS(2) is included in the automatic train running system to receive speed information from the tachometer. The propulsion control device is configured to receive the speed information from a pulse generator(7) which is installed at a shaft of a motor vehicle.

Description

전동차의 자동열차운전시스템 및 이 시스템을 이용한 자동열차운전 구현방법{electric train A.T.O. system and it's materialization method}Automatic train operation system of electric train and the method of realizing automatic train operation using this system {electric train A.T.O. system and it's materialization method}

본 발명은 전동차의 자동열차운전시스템 및 이 시스템을 이용한 자동열차운전 구현방법에 관한 것으로, 더욱 상세하게는 종합제어장치내에서 자동열차운전기능을 포함시켜, 인터페이스의 간략화에 따른 시스템 신뢰도의 향상효과와 함께, 보다 정확한 자동열차운전기능 구현을 위해 추진제어장치의 속도정보를 이용하여 타코메타의 고장시 백업하는 기능을 수행할 수 있는 전동차의 자동열차운전시스템 및 이 시스템을 이용한 자동열차운전 구현방법에 관한 것이다.The present invention relates to an automatic train operation system for an electric vehicle and a method for implementing automatic train operation using the system, and more particularly, to include an automatic train operation function in a comprehensive control device, thereby improving system reliability according to the simplified interface. In addition, the automatic train operation system of the electric vehicle that can perform the function of backing up in the event of a tachometer failure by using the speed information of the propulsion control device to implement the automatic train operation function more accurately, and the method of implementing the automatic train operation using this system. It is about.

현행 전동차의 자동열차운전 기능은 자동열차운전장치에서 수행하며 열차제어를 위한 속도정보는 타코메타를 통해 입력받으며, 최종출력은 종합제어장치를 통해서 추진제어장치와 제동제어장치로 각각 보내진다.The automatic train operation function of the current electric train is performed by the automatic train operation device, the speed information for the train control is input through the tachometer, and the final output is sent to the propulsion control device and the braking control device through the comprehensive control device, respectively.

이외에 여러가지 차상제어장치와 디지털 입·출력신호와 통신신호를 통하여 상호 연계되어 수행되는데, 그 일예가 도 1로 도시되어져 있다.In addition, it is carried out in conjunction with each other through a variety of vehicle control devices and digital input / output signals and communication signals, an example of which is shown in FIG.

이에, 도 1은 종래 자동열차운전에 관계된 자동열차운전장치와 다른 차상제어장치에 있어, 각 장치간 인터페이스에 대한 설명도로서, 자동열차운전장치(2)는 종합제어장치(TCMS: Train Control and Monitoring System)(1), 자동열차제어장치(ATC: Automatic Train Control)(3), 정밀정지마커검지기(PSM: Precision Stop Marker)(4), 차상지상간통신장치(TWC: Train to Wayside Communication)(5), 타코메타(Tachometer)(6)와 연결되어 자동열차운전기능을 수행하며, 각 장치간 인터페이스는 통신 또는 디지털신호로 이루어져 있다.Accordingly, FIG. 1 is a diagram illustrating an interface between devices in a vehicle control apparatus different from an automatic train driving apparatus related to a conventional automatic train driving, and the automatic train driving apparatus 2 is a comprehensive control apparatus (TCMS). Monitoring System (1), Automatic Train Control (ATC) (3), Precision Stop Marker (PSM) (4), Train to Wayside Communication (TWC) (5) It is connected with tachometer (6) to perform automatic train operation function, and the interface between each device is composed of communication or digital signal.

특히, 자동열차운전장치의 가속도 제어 출력 값은 종합제어장치를 통하여 추진제어/제동제어(7)장치로 전달된다.In particular, the acceleration control output value of the automatic train driving apparatus is transmitted to the propulsion control / braking control 7 apparatus through the integrated control apparatus.

여기서, 자동열차운전장치는 전동차 자동/무인운전제어 기능을 수행하는 장치로서 차량의 목표속도에 맞게 가속도를 제어하는 방식으로 출력 값은 통신수단을 통해 종합제어장치에 전달된 후, 종합제어장치에서 추진제어 및 제동제어장치에 전달하여 최종 차량에 역행력과 제동력을 인가하는 방식을 사용한다.Here, the automatic train driving device is a device that performs the automatic / unmanned driving control function of the electric vehicle. The acceleration value is controlled in accordance with the target speed of the vehicle. It transmits propulsion control and braking control device to apply back force and braking force to final vehicle.

하지만, 상기와 같은 기존의 자동열차운전방식은 자동열차운전장치를 신호보안장치에 포함시켜 구성함에 따라 복잡한 인터페이스를 사용하고 있어, 시스템구성의 복잡화에 따른 신뢰성 저하와 통신오류를 유발하는 문제점을 갖고 있다.However, the conventional automatic train operation method as described above uses a complicated interface by including the automatic train operation device in a signal security device, and thus has a problem of deteriorating reliability and communication error due to the complexity of the system configuration. have.

또한, 자동열차운전에 있어서 가장 중요한 속도정보수신을 타코메터에만 의존하고 있어 타코메터 고장시 자동운전이 불가능한 단점을 갖고 있다.In addition, since the most important speed information reception in automatic train operation depends only on the tachometer, there is a disadvantage in that automatic operation is impossible in case of tachometer failure.

이에, 본 발명은 전술한 종래 자동열차운전방식이 갖는 제반적인 문제점을 해결하고자 창안된 것으로,Accordingly, the present invention was devised to solve the general problems of the conventional automatic train operation method described above,

본 발명의 목적은 종합제어장치내에서 자동열차운전기능을 포함시켜, 인터페이스의 간략화에 따른 시스템 신뢰도의 향상효과와 함께, 보다 정확한 자동열차운전기능 구현을 위해 추진제어장치의 속도정보를 이용하여 타코메타의 고장시 백업하는 기능을 수행할 수 있는 전동차의 자동열차운전시스템 및 이 시스템을 이용한 자동열차운전 구현방법을 제공함에 있다.The purpose of the present invention is to include the automatic train operation function in the integrated control device, to improve the system reliability according to the simplified interface, and to use the speed information of the propulsion control device for more accurate automatic train operation function. The present invention provides an automatic train operating system for an electric vehicle capable of performing a backup function in case of a failure and a method for implementing automatic train operation using the system.

상기한 목적을 달성하기 위한 본 발명의 구체적인 수단으로는;As a specific means of the present invention for achieving the above object;

추진제어장치로 최종출력값을 전달하는 종합제어장치(TCMS)와, 자동열차제어장치(ATC)와, 정밀정지마커검지기(PSM)와, 차상지상간통신장치(TWC)와, 타코메타(Tachometer)를 상호 연계시켜 자동열차운전을 수행하는 전동차의 자동열차운전시스템에 있어서,A total control device (TCMS) that delivers the final output value to the propulsion control device, an automatic train control device (ATC), a precision stop marker detector (PSM), an on-vehicle communication device (TWC), and a tachometer In the automatic train operation system of an electric vehicle that performs the automatic train operation in conjunction with each other,

자동무인운전제어 기능을 수행하는 자동열차운전장치가 상기 종합제어장치에 포함하여 상기 타코메타로 부터 속도정보를 수신케하고,An automatic train driving apparatus which performs an automatic unmanned driving control function is included in the integrated control apparatus to receive speed information from the tachometer,

상기 추진, 제동제어장치로는 모터차량의 차축에 설치되는 펄스발전기를 연결하여, 이 펄스발전기를 통해 속도정보를 수신토록 구성됨을 특징으로 하는 전동차의 자동열차운전시스템을 구비하므로서 달성되며,The propulsion and braking control device is achieved by connecting a pulse generator installed on the axle of the motor vehicle, and providing an automatic train driving system for an electric vehicle, characterized in that configured to receive speed information through the pulse generator.

본 발명의 자동열차운전시스템을 통한 자동열차운전방법은 열차 타코메타의 펄스신호를 입력받아 열차주행거리를 계산하는 1단계와;Automatic train operation method using the automatic train operation system of the present invention comprises the steps of calculating the train travel distance by receiving the pulse signal of the train tacometa;

열차주행속도를 계산하는 2단계와;Calculating two train speeds;

타코메타의 고장유무를 판단하기 위해 상기 열차속도 값과, 추진제어장치로 부터 수신된 속도정보를 비교하는 3단계와;3 steps of comparing the train speed value with the speed information received from the propulsion control device to determine whether or not there is a tachometer failure;

양 속도값이 허용오차 범위이내면 정확한 속도값을 반영하기 위해 계산된 주행 속도값을 보정하는 4단계를 통해 열차의 역 정밀정차가 이루어지는 전동차의 자동열차운전 구현방법을 구비하므로서 달성된다.If both speed values are within the tolerance range, it is achieved by providing a method for implementing automatic train operation of an electric vehicle in which a reverse precision stop of a train is performed through four steps of correcting the calculated driving speed value to reflect an accurate speed value.

도 1은 종래 자동열차운전에 관계된 자동열차운전장치와 각종 차상 제어장치에 있어, 각 장치간의 인터페이스에 대한 전체 구성도.BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an overall configuration diagram of an interface between devices in an automatic train driving apparatus and various vehicle control devices related to a conventional automatic train driving.

도 2는 본 발명에 따른 전동차의 자동열차운전시스템의 전체 구성도.2 is an overall configuration diagram of an automatic train driving system of an electric vehicle according to the present invention;

도 3은 상기의 자동열차운전시스템을 통해 구현되는 자동열차운전방법을 나타낸 순서도.3 is a flowchart illustrating an automatic train driving method implemented through the automatic train driving system.

<도면주요부위에 대한 부호의 설명><Explanation of symbols for major parts of drawing>

1 : 추진제어장치 2 : 종합제어장치1: Propulsion control device 2: General control device

3 : 자동열차제어장치 4 : 정밀정지마커검지기3: automatic train control device 4: precision stop marker detector

5 : 차상지상간통신장치 6 : 타코메타5: on-vehicle communication device 6: tachometer

7 : 펄스발전기7: pulse generator

S1~S4,S4' : 1~4,4'단계S1 ~ S4, S4 ': 1 ~ 4,4' steps

이하, 본 발명의 바람직한 실시예를 첨부도면에 의거 상세히 설명하기로 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 2는 본 발명에 따른 전동차의 자동열차운전시스템의 전체 구성도이다.2 is an overall configuration diagram of an automatic train driving system of an electric vehicle according to the present invention.

이에 도시된 바와같이 본 발명의 자동열차운전시스템은 종합제어장치(2)내에서 자동열차운전기능을 수행토록하고, 추진제어장치(1)는 모터차량차축으로 설치된 펄스발전기(7)로부터 속도정보를 수신받도록 구성되어 있다.As shown in the drawing, the automatic train operation system of the present invention allows the automatic train operation function to be performed in the integrated control device 2, and the propulsion control device 1 provides speed information from the pulse generator 7 installed as the motor vehicle axle. It is configured to receive.

이와같은 자동열차운전시스템은 펄스발전기(7)로부터 전달되는 속도정보와 함께 타코메타(6)로부터 수신된 속도정보를 이용하게 되므로 속도의 보정과 함게 타코메타(6)의 고장시 정상적인 자동운전을 수행할 수 있는 것이다.Such automatic train operation system uses the speed information received from the tachometer 6 together with the speed information transmitted from the pulse generator 7 so that normal automatic operation can be performed in case of failure of the tachometer 6 together with the speed correction. It can be.

한편, 도 3은 상기의 자동열차운전시스템을 통해 구현되는 자동열차운전방법을 나타낸 순서도이다.On the other hand, Figure 3 is a flow chart illustrating an automatic train operation method implemented through the automatic train operation system.

이에 도시된 바와같이 최초에 열차가 가동되고 자동운전모드 설정에 따른 열차자동운전이 시작되면,As shown in the drawing, when the train is initially operated and the autonomous driving according to the autonomous driving mode is started,

종합제어장치(2)는 타코메타(6)로 부터 입력되는 펄스신호(B1)를 이용하여 지금까지 열차의 주행거리를 수학식 1을 통해 계산(B2)하게 된다.(S1)The integrated control device 2 calculates the traveling distance of the train through Equation 1 (B2) using the pulse signal B1 input from the tachometer 6 (S1).

여기서 SP: 타코메타 펄스당 열차 이동거리[m]Where SP: train travel per tacometa pulse [m]

WD: 차량의 휠 직경[m]WD: wheel diameter of vehicle [m]

PN: 차륜 1 회전당 타코메타 펄스 갯수PN: Number of tachometer pulses per wheel revolution

N : 열차 출발후 타코메타로부터 입력된 누적 펄스 갯수N: Cumulative pulse number input from tacoma after train departure

SN: N 펄스당 진행거리[m] 이다.SN: travel distance [m] per N pulses.

이에, 상기 수학식 1에서 계산된 거리 값과 동작프로세서의 주기 값을 샘플링 주기로 사용하여 현재 열차의 주행속도(B3)를 수학식 2를 통해 계산하는 단계(S2)를 거치게 된다.Thus, using the distance value calculated in Equation 1 and the cycle value of the operation processor as a sampling period, the step (S2) of calculating the driving speed B3 of the current train through Equation 2 is performed.

여기서 V(n): 임의의 샘플링에서 계산된 열차속도[m/s]Where V (n): train speed calculated at any sampling [m / s]

SN(n): 임의의 샘플링에서 계산된 열차주행거리[m]S N (n): train travel distance [m] calculated from random sampling

T : 동작프로세서의 샘플링 주기[sec]이다.T: Sampling period [sec] of the operation processor.

상기의 수학식 2에서 계산된 열차의 속도값과 추진제어장치(1)로부터 입력되는 차축 펄스제너레이터(7) 속도값을 비교(B4)하게 되는데,(S3)The speed value of the train calculated in Equation 2 and the speed value of the axle pulse generator 7 input from the propulsion control device 1 are compared (B4), (S3).

여기서, 양 속도의 차이가 일정한 범위를 넘어서는 경우 타코메타(6) 입력부의 고장으로 판단한다.Here, when the difference between the two speeds exceeds a certain range, it is determined that the tacometa 6 input unit is broken.

이때, 양 속도의 차이가 일정한 허용범위내라면, 타코메타(6)의 입력부가 고장나지 않은 것으로 판단하여, 우선 정확한 속도값을 반영하기 위하여 계산된 속도 값을 보정(B7)하고 자동열차운전 제어(B8)를 수행한다.(S4)At this time, if the difference between the two speeds is within a certain allowable range, it is determined that the input portion of the tachometer 6 has not failed, first correcting the calculated speed value to reflect the correct speed value (B7) and controlling the automatic train operation ( B8). (S4)

또 다르게, 양 가속도의 차이가 허용범위를 벗어나게 되면 타코메타(6)의 입력부가 고장난 것으로 판단하여, 추진제어장치(1)로 부터 입력되는 열차속도를 이용하여 자동열차운전기능을 수행(B9)한다.(S4')In addition, if the difference between the two accelerations exceeds the allowable range, it is determined that the input portion of the tachometer 6 is broken, and performs the automatic train operation function using the train speed input from the propulsion control device 1 (B9). (S4 ')

이후, 열차가 다음 역에 도착하기 위하여 역 정밀정차 기능을 수행(B10)하고 자동운전을 마치게 된다.After that, the train performs the station precision stop function (B10) to arrive at the next station and finishes the automatic driving.

이상과 같이 본 발명에 따른 전동차의 자동열차운전시스템 및 이 시스템을 이용한 자동열차운전 구현방법은 기존과 같이 자동열차운전장치를 별도의 장치로서 분류하여 복잡한 인터페이스 구성으로 자동운전을 행하였던 자동열차운전시스템의 문제점을 해결하고자 자동열차운전기능을 종합제어장치에 포함시켜, 인터페이스의 단순화를 기할 수 있어 시스템 신뢰도를 향상시킬 수 있는 장점을 갖게 되며,As described above, the automatic train operation system of the electric vehicle and the method for implementing the automatic train operation using the system according to the present invention are classified as a separate apparatus as the conventional train operation apparatus that performs automatic operation with a complicated interface configuration. In order to solve the problem of the system, the automatic train operation function is included in the integrated control device, and the interface can be simplified, thereby improving the system reliability.

특히, 추진제어장치를 통해 수신되는 펄스제너레이터 속도정보를 이용하여 속도의 보정 및 백업을 가능토록하므로서, 기존과 같이 타코메타를 통한 속도 값으로만 제어를 수행하므로서 타코메타 고장시 자동운전제어가 불가능한 단점을 해결한 효과를 갖는 것이다.In particular, speed correction and backup are possible by using pulse generator speed information received through the propulsion control device, and control is performed only by the speed value through tachometer as before. It has the effect solved.

Claims (3)

추진제어장치(1)로 최종출력값을 전달하는 종합제어장치((2)TCMS)와, 자동열차제어장치((3)ATC)와, 정밀정지마커검지기((4)PSM)와, 차상지상간통신장치((5)TWC)와, 타코메타((6)Tachometer)를 상호 연계시켜 자동열차운전을 수행하는 전동차의 자동열차운전시스템에 있어서,Comprehensive control system (2) TCMS to deliver final output value to propulsion control system (1), automatic train control system (3) ATC, precision stop marker detector (4) PSM, and vehicle ground level In the automatic train operation system of an electric vehicle which performs an automatic train operation by connecting a communication device (5) TWC and a tachometer (6) Tachometer to each other, 자동무인운전제어 기능을 수행하는 자동열차운전장치를 상기 종합제어장치(2)에 포함하여 상기 타코메타(6)로 부터 속도정보를 수신케하고,Including the automatic train operation apparatus for performing the automatic unmanned operation control function in the integrated control device (2) to receive the speed information from the tachometer (6), 상기 추진제어장치(1)로는 모터차량의 차축에 설치되는 펄스발전기(7)를 연결하여, 이 펄스발전기(7)를 통해 속도정보를 수신토록 구성됨을 특징으로 하는 전동차의 자동열차운전시스템.The propulsion control device (1) is connected to a pulse generator (7) installed on the axle of the motor vehicle, the automatic train driving system of the electric vehicle, characterized in that configured to receive the speed information through the pulse generator (7). 열차 타코메타의 펄스신호를 입력받아 열차주행거리를 계산하는 1단계(S1)와;Step 1 (S1) for receiving the pulse signal of the train tacometa calculates the train traveling distance; 열차주행속도를 계산하는 2단계(S2)와;Step 2 (S2) for calculating the train running speed; 타코메타의 고장유무를 판단하기 위해 상기 열차속도 값과, 추진제어장치로 부터 수신된 속도정보를 비교하는 3단계(S3)와;A third step (S3) of comparing the train speed value with the speed information received from the propulsion control device to determine whether or not there is a tachometer failure; 양 속도값이 허용오차 범위이내면 정확한 속도값을 반영하기 위해 계산된 주행 속도값을 보정하는 4단계(S4)를 통해 열차의 역 정밀정차가 이루어지는 전동차의 자동열차운전 구현방법.A method for implementing automatic train operation of an electric vehicle in which a reverse precision stop of a train is performed through four steps (S4) of correcting a calculated driving speed value to reflect an accurate speed value when both speed values are within an allowable tolerance range. 제 2항에 있어서, 상기 3단계에서 양 속도값이 허용 오차범위를 벗어날 경우 타코메타가 고장난 것으로 판단하고 추진제어장치의 속도정보를 이용하여 열차자동운전기능을 수행하는 단계(S4')를 포함하는 것을 특징으로 하는 전동차의 자동열차운전 구현방법.The method of claim 2, further comprising: determining that the tachometer has failed when both speed values fall outside the allowable error range in step 3, and performing an automatic train operation function using the speed information of the propulsion control device (S4 '). Method for implementing automatic train operation of an electric vehicle, characterized in that.
KR10-2001-0084758A 2001-12-26 2001-12-26 electric train A.T.O. system and it's materialization method KR100483813B1 (en)

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KR100682510B1 (en) * 2003-12-18 2007-02-15 한국철도기술연구원 Rolling stock speed-measurment system applying RFradio frequency data commuication method
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KR100682510B1 (en) * 2003-12-18 2007-02-15 한국철도기술연구원 Rolling stock speed-measurment system applying RFradio frequency data commuication method
KR100682371B1 (en) * 2004-03-24 2007-02-15 한국철도기술연구원 Train unmanned automatic operation system
KR20140143180A (en) * 2012-03-30 2014-12-15 닛뽄신고가부시기가이샤 Speed detection device
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CN112874582A (en) * 2019-11-29 2021-06-01 比亚迪股份有限公司 Train, control method and control device thereof and vehicle-mounted control equipment
CN112874582B (en) * 2019-11-29 2023-02-10 比亚迪股份有限公司 Train, control method and control device thereof and vehicle-mounted control equipment

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