KR20070053854A - 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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KR20070053854A
KR20070053854A KR1020050111582A KR20050111582A KR20070053854A KR 20070053854 A KR20070053854 A KR 20070053854A KR 1020050111582 A KR1020050111582 A KR 1020050111582A KR 20050111582 A KR20050111582 A KR 20050111582A KR 20070053854 A KR20070053854 A KR 20070053854A
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South Korea
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tag
train
tachometer
speed
automatic
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KR1020050111582A
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Korean (ko)
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KR100740577B1 (en
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안태기
정종덕
이우동
박기준
한석윤
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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 vehicle train for signalling purposes ; On-board control or communication systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or vehicle train for signalling purposes ; On-board control or communication systems
    • B61L15/0018—Communication with or on the vehicle or vehicle train
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or vehicle train for signalling purposes ; On-board control or communication systems
    • 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 vehicle train for signalling purposes ; On-board control or communication systems
    • B61L15/0081—On-board diagnosis or maintenance
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L1/00—Devices along the route controlled by interaction with the vehicle or vehicle train, e.g. pedals
    • B61L1/02—Electric devices associated with track, e.g. rail contacts
    • 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 vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/021—Measuring and recording of train speed

Abstract

본 발명은 지상에 설치된 무선태그를 이용하여 현재 전동차의 자동운전에 필요한 속도와 위치 정보를 제공함으로써 타코메타의 일부 고장시에도 자동운전을 원활하게 수행하고 보다 정밀한 자동정차기능을 수행할 수 있는 전동차의 자동열차운전시스템 및 이 시스템을 이용한 자동열차운전 구현방법에 관한 것이며, 지상에 설치된 무선태그, 차상에 설치된 무선태그 리더기, 입력된 무선태그정보를 이용하여 현재 속도와 위치를 연산하는 연산장치로 구성되며, 무선태그를 이용하여 계산된 속도를 이용하여 현재 타코메타의 이상유무를 판단하고, 자동운전의 정밀정차기능 수행시 절대위치로 보정할 수 있도록 하여 타코메타의 일부 고장시에도 자동운전을 원활하게 수행하고, 보다 정밀한 자동정차기능을 수행할 수 있다.The present invention provides a speed and position information necessary for the automatic operation of the current electric vehicle by using a radio tag installed on the ground, thereby smoothly performing the automatic operation even in the case of some failure of the tachometer and performing a more precise automatic stop function. The present invention relates to an automatic train operation system and a method for implementing automatic train operation using the system, comprising a wireless tag installed on the ground, a wireless tag reader installed on a vehicle, and a computing device that calculates the current speed and position using the inputted wireless tag information. By using the speed calculated by using a wireless tag, it is possible to determine whether there is an abnormality of the current tacoma, and to automatically correct the absolute position when performing the automatic stop function of the automatic operation. And more precise automatic stop function can be performed.

타코메타, 자동운전, 무선태그, 정밀정차 Tachometer, automatic driving, wireless tag, precision stop

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 method for implementing automatic train operation using this system {electric train A.T.O. system and it's materialization method}

도 1은 본 발명의 일실시예에 따른 자동열차운전을 수행하는 전동차의 자동열차운전시스템을 도시하는 도면이다.1 is a view showing an automatic train operation system of an electric vehicle for performing automatic train operation according to an embodiment of the present invention.

도 2는 본 발명의 일실시예에 따른 전동차의 자동열차운전 구현방법을 설명하는 순서도이다.Figure 2 is a flow chart illustrating a method for implementing automatic train operation of an electric vehicle according to an embodiment of the present invention.

도 3은 종래 자동열차운전에 관련된 자동열차운전장치와 다른 차상제어장치에 있어서의 각 장치간 인터페이스에 대한 설명도이다.3 is an explanatory diagram of an interface between devices in an automatic train driving apparatus and another vehicle control apparatus related to a conventional automatic train driving.

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

20 : 무선태그 21 : 무선태그 리더기20: wireless tag 21: wireless tag reader

22 : 연산장치 23 : 통신장치22: computing device 23: communication device

24 : 신호보안장치 25 : 종합제어장치24: signal security device 25: integrated control device

26 : 추진제어장치 27a, 27b : 타코메타26: propulsion control device 27a, 27b: tachometer

본 발명은 전동차의 자동열차운전시스템 및 이 시스템을 이용한 자동열차운 전 구현방법에 관한 것으로, 더욱 상세하게는 지상에 설치된 무선태그를 이용하여 현재 전동차의 자동운전에 필요한 속도와 위치 정보를 제공함으로써 타코메타의 일부 고장시에도 자동운전을 원활하게 수행하고 보다 정밀한 자동정차기능을 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. More specifically, by providing a speed and position information for automatic operation of a current electric vehicle using a wireless tag installed on the ground, The present invention relates to an automatic train operation system of an electric vehicle that can perform automatic operation smoothly and to perform a more precise automatic stop function even in the case of a tachometer failure and a method of implementing the automatic train operation using the system.

도 3은 종래 자동열차운전에 관련된 자동열차운전장치와 다른 차상제어장치에 있어서의 각 장치간 인터페이스에 대한 설명도로서, 자동열차운전장치(ATO: Automatic Train Operation)(10)는 종합제어장치(TCMS: Train Control and Monitoring System)(11), 자동열차제어장치(ATC: Automatic Train Control)(12), 정밀정지마커검지기(PSM: Precision Stop Marker)(13), 차상지상간통신장치(TWC: Train to Wayside Communication)(14), 추진제어장치(15) 등으로 구성되고, 각 장치간 인터페이스는 통신 및 아날로그/디지털신호로 이루어져 있으며, 타코메타(Tachometer)(16a, 16b, 16c)와 연결되어 자동열차운전기능을 수행한다.FIG. 3 is an explanatory diagram of an interface between devices in an automatic train driving apparatus and another vehicle control apparatus related to a conventional automatic train driving, and an automatic train operation apparatus (ATO) 10 is an integrated control apparatus ( TCMS: Train Control and Monitoring System (11), Automatic Train Control (ATC) (12), Precision Stop Marker (PSM) (13), TWC: Train to Wayside Communication (14), propulsion control device (15), etc., the interface between each device is composed of communication and analog / digital signal, and is connected to the tachometer (Tachometer) (16a, 16b, 16c) Perform train operation.

타코메타(16a, 16b, 16c)는 전동차의 열차제어를 위한 속도정보를 제공하는 것으로, 그 기능에 따라 각 장치별로 다양하게 설치되어 사용되고 있다. 예를 들면, 자동열차운전장치(10)에는 1개의 타코메타(16a)가 연결되어 있으며, 자동열차제어장치(12)에는 주타코메타와 보조타코메타의 2개의 타코메터(16b)가 연결되어 있고, 추진제어장치(15)에는 4개의 타코메타(16c)가 설치되어 있다.The tachometers 16a, 16b, and 16c provide speed information for controlling a train of an electric vehicle, and are variously installed and used for each device according to its function. For example, one tachometer 16a is connected to the automatic train driving apparatus 10, and two tachometers 16b of the main tachometer and the auxiliary tachometer are connected to the automatic train control apparatus 12, and propulsion is performed. Four tachometers 16c are provided in the controller 15.

그러나, 현재 시스템에서는 수많은 타코메타의 정보를 이용할 수 있게 되더라도 자동열차운전장치의 타코메타 하나만 오류를 일으켜도 전동차의 자동운전은 불가능하게 되며, 타코메타의 오류를 검지할 수 있는 절대값이 없으므로 타코메타 정보의 오류를 찾아내는 것은 쉽지 않다. 다시 말해서, 자동열차제어장치는 주타코메타와 보조타코메타의 2개의 타코메타가 연결되어 있으므로 두 개의 입력신호를 비교하여 타코메타 정보의 오류를 검지하고, 추진제어장치에서 사용되는 타코메타는 다른 3개의 타코메타와 가장 차이가 많이 나는 타코메타의 정보를 취하지 않는 방식을 사용할 수 있다. 그러나, 자동열차운전장치는 현재 하나의 타코메타만 연결되어 있으므로 자체로서는 타코메타 정보의 오류를 감지하는 것은 불가능하다.However, even if a large number of tachometer information is available in the current system, even if only one tachometer of the automatic train operating device causes an error, automatic operation of the electric vehicle becomes impossible, and there is no absolute value to detect the tachometer error. Finding it is not easy. In other words, the automatic train controller is connected to the two tachometers of the main tachometer and the auxiliary tachometer, so that the two input signals are compared to detect the error of the tachometer information. You can use a method that doesn't take much of the difference in tachometer information. However, since the automatic train driving apparatus currently has only one tachometer connected, it is impossible to detect an error of tachometer information by itself.

따라서, 본 발명은 상기한 문제점들을 해결하기 위해 안출된 것으로, 본 발명은 전동차 내에서 사용하고 있는 타코메타 중 정확한 속도 정보를 제공하는 타코메타 정보를 취할 수 있는 방안을 제시함으로써, 자동열차운전장치 및 자동열차제어장치의 일부 타코메타 고장시에도 전동차의 기능이 원활하게 이루어지도록 하는 것에 그 목적이 있다.Accordingly, the present invention has been made to solve the above problems, the present invention provides an automatic train driving apparatus and automatic by presenting a way to take tacometa information that provides accurate speed information of the tacometa used in the electric vehicle The purpose is to ensure that the function of the electric vehicle is performed smoothly even in case of some tachometer failure of the train control system.

이하 본 발명의 바람직한 실시예를 첨부한 도면에 의거 상세하게 설명하기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명의 일실시예에 따른 자동열차운전을 수행하는 전동차의 자동열차운전시스템을 도시하는 도면으로서, 무선태그(20), 무선태그 리더기(21), 연산장치(22), 통신장치(23), 신호보안장치(24), 종합제어장치(25), 추진제어장치(26), 타코메타(27a, 27b)로 구성된다.1 is a diagram illustrating an automatic train operation system of an electric vehicle for performing automatic train operation according to an embodiment of the present invention, wherein the wireless tag 20, the wireless tag reader 21, the computing device 22, and the communication device are shown. 23, a signal security device 24, a comprehensive control device 25, a propulsion control device 26, and tachometers 27a and 27b.

도 1를 참조하면, 지상에는 일정한 거리마다 고유 아이디를 가지는 무선태그(20)가 설치되고, 전동차에는 이러한 무선태그의 고유 아이디를 판독하기 위한 무선태그 리더기(21)가 설치된다.Referring to FIG. 1, a radio tag 20 having a unique ID at a predetermined distance is installed on the ground, and a radio tag reader 21 for reading a unique ID of the radio tag is installed on the electric vehicle.

무선태그 리더기(21)에서 판독된 정보는 연산장치(22)로 전송되고, 연산장치(22)는 미리 저장되어진 무선태그의 정보를 이용하여 전동차의 절대기준 열차속도를 계산한다.The information read by the radio tag reader 21 is transmitted to the calculating device 22, and the calculating device 22 calculates the absolute reference train speed of the electric vehicle using the information of the radio tag stored in advance.

수행된 계산결과는 통신장치(23)를 통하여 전동차의 자동운전을 수행하는 신호보안장치(24), 전동차의 감시와 제어를 담당하는 종합제어장치(25), 및 전동차 추진제어와 제동제어를 담당하고 있는 추진제어장치(26)에 전송한다.The calculation result performed is a signal security device 24 for performing automatic operation of the electric vehicle through the communication device 23, a comprehensive control device 25 for monitoring and control of the electric vehicle, and electric vehicle propulsion control and braking control. It transmits to the propulsion control apparatus 26 which is being performed.

신호보안장치(24), 종합제어장치(25) 및 추진제어장치(26)는 전송된 절대기준 열차속도를 이용하여 각각의 장치에 연결된 타코메타의 오류를 검증하고, 타코메타가 설치된 휠직경값을 실시간으로 보정한다.The signal security device 24, the comprehensive control device 25, and the propulsion control device 26 verify the error of the tachometer connected to each device by using the transmitted absolute reference train speed, and real-time the diameter of the tachometer installed wheel diameter value. Correct with

도 2는 본 발명의 일실시예에 따른 전동차의 자동열차운전 구현방법을 설명하는 순서도이다.Figure 2 is a flow chart illustrating a method for implementing automatic train operation of an electric vehicle according to an embodiment of the present invention.

도 2를 참조하면, 먼저 휠직경(Wc)을 초기화한다(S100).Referring to FIG. 2, first, the wheel diameter Wc is initialized (S100).

다음에, 타코메타의 펄스신호를 입력받아 열차주행거리를 계산하고, 현재 열차속도를 계산하게 된다(S102, S104 및 S106).Next, the train traveling distance is calculated by receiving the tachometer pulse signal, and the current train speed is calculated (S102, S104, and S106).

타코메타의 펄스신호에 따른 열차주행거리는 수학식 1에 의하여 계산된다.The train driving distance according to the tachometer pulse signal is calculated by Equation 1.

Figure 112005067059826-PAT00001
Figure 112005067059826-PAT00001

S t : 열차진행거리(m) S t : train travel distance (m)

W c : 차량의 보정된 휠직경(m) W c : Calibrated wheel diameter of the vehicle (m)

P n : 차량 1회전당 타코메타에서 발생하는 펄스 개수 P n : Number of pulses generated by tachometer per vehicle revolution

N : 열차출발후 타코메타로부터 입력된 누적 펄스 개수. N : Accumulated pulse number input from tacoma after train departure.

현재 열차속도는 수학식 1에서 계산된 열차주행거리 값과 동작프로세서의 주기값을 샘플링 주기로 사용하여 수학식 2에 의하여 계산된다.The current train speed is calculated by Equation 2 using the train mileage value calculated in Equation 1 and the cycle value of the operation processor as the sampling period.

Figure 112005067059826-PAT00002
Figure 112005067059826-PAT00002

V c (i) : i 번째 샘플링에서 계산된 열차속도(m/s) V c (i) : train speed (m / s) calculated from the i th sampling

S t (i) : i 번째 샘플링에서 계산된 열차주행거리(m) S t (i) : Train driving distance (m) calculated from the i th sampling

T : 동작프로세서의 샘플링 주기. T : Sampling cycle of the operating processor.

다음에, 무선태그 리더기로부터 수신된 태그정보를 이용하여 절대기준 열차속도를 계산하게 되는데, 먼저 전동차에 설치된 무선태그 리더기(21)가 새로운 무선태그(20)를 인식했는지 여부를 조사한다(S108).Next, the absolute reference train speed is calculated using the tag information received from the radio tag reader. First, it is examined whether the radio tag reader 21 installed in the electric vehicle recognizes the new radio tag 20 (S108). .

만약 새로운 무선태그(20)를 인식하지 못한 경우에는 현재 열차속도(Vc)와 이전에 무선태그를 이용하여 계산되어진 절대기준 열차속도(V(n))와의 차이를 구하는 단계(S112)로 진행한다.If the new radio tag 20 is not recognized, the process proceeds to step S112, in which the difference between the current train speed Vc and the absolute reference train speed V (n) previously calculated using the radio tag is calculated. .

그러나, 만약 새로운 태그인 n번째 태그가 인식된 경우 절대기준 열차속도(V(n))는 새로운 태그에 의하여 수학식 3에 의하여 다시 계산된다(S110).However, if the n th tag, which is a new tag, is recognized, the absolute reference train speed V (n ) is recalculated by Equation 3 by the new tag (S110).

Figure 112005067059826-PAT00003
Figure 112005067059826-PAT00003

V(n) : n번째 태그 위치에서의 열차속도(m/s) V (n) : Train speed at the nth tag position (m / s)

x(n) : n번째 태그 위치(m) x (n) : nth tag position (m)

x(n-1) : n-1번째 태그 위치(m) x (n-1) : n-1th tag position (m)

t(n) : n번째 태그를 인식한 시간(초) t (n) : Recognition time of nth tag (seconds)

t(n-1) : n-1번째 태그를 인식한 시간(초). t (n-1) : Recognition time of n-1th tag in seconds.

여기에서, V(n)은 n번째 태그 위치에서의 절대기준 열차속도가 된다.Here, V (n) is the absolute reference train speed at the nth tag position.

다음에, 타코메타의 고장유무를 판단하기 위해 상기 현재 열차속도 값과, 절대기준 열차속도를 비교한다(S112).Next, the current train speed value and the absolute reference train speed are compared to determine whether there is a failure of the tachometer (S112).

비교결과, 양 속도값이 임계설정치 범위를 벗어나는 경우에는 해당 타코메타에서 입력된 정보는 잘못된 정보로 전동차의 제어에 사용하지 않는다(S114).As a result of the comparison, when both speed values are out of the threshold set value range, the information input from the tachometer is incorrect and is not used for controlling the electric vehicle (S114).

만약 양 속도값이 임계설정치 이내이면 정확한 속도값을 반영하기 위해 타코메타가 설치된 휠직경 값을 보정하게 되는데(S116), 휠직경은 수학식 4에 의하여 구해진다.If both speed values are within the threshold set value, the tachometer installed wheel diameter value is corrected to reflect the correct speed value (S116), and the wheel diameter is obtained by Equation 4.

Figure 112005067059826-PAT00004
Figure 112005067059826-PAT00004

W n : n번째 태그위치에서 보정된 휠 직경 W n : Wheel diameter corrected at the nth tag position

x(n) : n번째 태그 위치(m) x (n) : nth tag position (m)

x(n-1) : n-1번째 태그 위치(m) x (n-1) : n-1th tag position (m)

P n : 차량 1회전당 타코메타에서 발생하는 펄스 개수 P n : Number of pulses generated by tachometer per vehicle revolution

N : 열차출발후 타코메타로부터 입력된 누적 펄스 개수. N : Accumulated pulse number input from tacoma after train departure.

최종 사용되는 휠 직경은 첫 번째 무선태그부터 현재 무선태그까지 보정되어 왔던 휠 직경의 산술평균값을 취하며, 수학식 5에 의하여 계산되어진다.The final wheel diameter is calculated by Equation 5 taking the arithmetic mean value of the wheel diameter that has been corrected from the first radio tag to the current radio tag.

Figure 112005067059826-PAT00005
Figure 112005067059826-PAT00005

이러한 일련의 과정은 지상에 무선태그를 설치하는 간격과 열차의 속도에 따라 수행되며, 무선태그의 설치간격이 넓은 경우 열차의 속도가 일정속도 이상일 경우 수행하는 것이 바람직하다.This series of processes is performed according to the interval of installing the radio tag on the ground and the speed of the train, it is preferable to perform when the speed of the train is more than a certain speed when the interval of installation of the radio tag is wide.

이상 설명한 바와 같이, 본 발명에 따르면 전동차의 자동운전제어 및 운행제 어에 있어서, 지상의 절대적인 위치에 설치된 태그를 이용하여 계산되어진 절대기준 열차속도를 이용하여 타코메타의 오류를 검증하는 객관적인 방법을 확보할 수 있고, 자동운전제어에 있어 필요한 정확한 속도연산을 할 수 있도록 휠직경을 각각의 휠에 맞도록 실시간으로 보상하여 정확한 휠직경을 제공할 수 있어 휠의 자연 마모로 인하여 발생할 수 있는 오차를 줄일 수 있으며, 일부의 타코메타가 고장나더라도 정상적인 타코메타를 이용하여 열차의 정상적인 운행을 지속할 수 있다.As described above, according to the present invention, in the automatic driving control and driving control of the electric vehicle, an objective method of verifying the error of the tachometer using an absolute reference train speed calculated using a tag installed at an absolute position on the ground is ensured. It is possible to provide accurate wheel diameter by compensating the wheel diameter in real time for each wheel so that accurate speed calculation required for automatic driving control can be performed. Even if some tachometers fail, the normal tachometer can be used to continue the normal operation of the train.

Claims (6)

자동열차운전을 수행하는 전동차의 자동열차운전시스템에 있어서,In the automatic train operation system of an electric vehicle that performs automatic train operation, 지상에 설치되고 고유 아이디를 가지는 다수의 무선태그와;A plurality of radio tags installed on the ground and having a unique ID; 차상에 설치되고 상기 무선태그의 고유 아이디를 판독하여 무선태그 정보를 획득하는 무선태그 리더기와;A radio tag reader installed on a vehicle and obtaining radio tag information by reading a unique ID of the radio tag; 상기 무선태그 리더기로부터 입력되는 무선태그 정보를 이용하여 절대기준 열차속도를 계산하는 연산부를 포함하며;A calculation unit for calculating an absolute reference train speed by using radio tag information input from the radio tag reader; 상기 연산부에서 계산된 계산결과는 통신장치를 통하여 전동차의 자동운전을 수행하는 신호보안장치, 전동차의 감시와 제어를 담당하는 종합제어장치, 및 전동차 추진제어와 제동제어를 담당하는 추진제어장치에 전송되고, 상기 신호보안장치, 종합제어장치, 및 추진제어장치는 상기 절대기준 열차속도를 이용하여 각각의 장치에 연결된 타코메타의 오류를 검증하고, 상기 타코메타가 설치된 휠직경값을 실시간으로 보정하는 것을 특징으로 하는 전동차의 자동열차운전시스템.The calculation result calculated by the calculating unit is transmitted to a signal security device for performing automatic operation of the electric vehicle through a communication device, a comprehensive control device for monitoring and controlling the electric vehicle, and a propulsion control device for electric vehicle propulsion control and braking control. The signal security device, the integrated control device, and the propulsion control device verify an error of the tachometer connected to each device by using the absolute reference train speed, and correct the wheel diameter value in which the tachometer is installed in real time. Train operating system for electric cars. 타코메타의 펄스신호를 입력받아 열차주행거리를 계산하는 제1 단계와;A first step of calculating a train traveling distance by receiving a tachometer pulse signal; 현재 열차속도를 계산하는 제2 단계와;Calculating a current train speed; 무선태그 리더기로부터 수신된 태그정보를 이용하여 절대기준 열차속도를 계산하는 제3 단계와;A third step of calculating an absolute reference train speed using tag information received from a radio tag reader; 타코메타의 고장유무를 판단하기 위해 상기 현재 열차속도 값과, 절대기준 열차속도를 비교하는 제4 단계와;A fourth step of comparing the current train speed value with an absolute reference train speed to determine whether or not there is a tachometer failure; 상기 제4 단계에서, 양 속도값이 임계설정치 이내이면 정확한 속도값을 반영하기 위해 타코메타가 설치된 휠직경 값을 보정하는 제5 단계를 포함하는 것을 특징으로 하는 전동차의 자동열차운전 구현방법.And in the fourth step, a fifth step of correcting a wheel diameter value having a tachometer installed in order to reflect an accurate speed value when both speed values are within a threshold setting value. 청구항 2에 있어서,The method according to claim 2, 상기 제5 단계에서, 양 속도값이 임계설정치를 벗어날 경우 타코메타가 고장난 것으로 판단하는 것을 특징으로 하는 전동차의 자동열차운전 구현방법.In the fifth step, the automatic train operation method of the electric vehicle, characterized in that it is determined that the tachometer is broken when both speed value is out of the threshold setting value. 청구항 2에 있어서,The method according to claim 2, 상기 제3 단계에서,In the third step, 무선태그 리더기가 새로운 무선태그를 인식하지 못한 경우에는 상기 제4 단계로 진행되며,If the wireless tag reader does not recognize the new wireless tag, the process proceeds to the fourth step. 무선태그 리더기가 새로운 태그인 n번째 태그를 인식하는 경우에는If the wireless tag reader recognizes the new tag, the nth tag,
Figure 112005067059826-PAT00006
에 의해 n번째 태그 위치에서의 열차속도를 계산하는 것을 특징으로 하는 전동차의 자동열차운전 구현방법.
Figure 112005067059826-PAT00006
A method for implementing automatic train operation of an electric vehicle, comprising calculating a train speed at an n th tag position. V(n) : n번째 태그 위치에서의 열차속도(m/s) V (n) : Train speed at the nth tag position (m / s) x(n) : n번째 태그 위치(m) x (n) : nth tag position (m) x(n-1) : n-1번째 태그 위치(m) x (n-1) : n-1th tag position (m) t(n) : n번째 태그를 인식한 시간(초) t (n) : Recognition time of nth tag (seconds) t(n-1) : n-1번째 태그를 인식한 시간(초). t (n-1) : Recognition time of n-1th tag in seconds. 청구항 2에 있어서,The method according to claim 2, 상기 제5 단계에서, 휠 직경은In the fifth step, the wheel diameter is
Figure 112005067059826-PAT00007
에 의해 구해지는 것을 특징으로 하는 전동차의 자동열차운전 구현방법.
Figure 112005067059826-PAT00007
Method for implementing automatic train operation of an electric vehicle, characterized in that obtained by. W n : n번째 태그위치에서 보정된 휠 직경 W n : Wheel diameter corrected at the nth tag position x(n) : n번째 태그 위치(m) x (n) : nth tag position (m) x(n-1) : n-1번째 태그 위치(m) x (n-1) : n-1th tag position (m) P n : 차량 1회전당 타코메타에서 발생하는 펄스 개수 P n : Number of pulses generated by tachometer per vehicle revolution N : 열차출발후 타코메타로부터 입력된 누적 펄스 개수. N : Accumulated pulse number input from tacoma after train departure. 청구항 5에 있어서,The method according to claim 5, 최종 사용되는 휠 직경은,The final wheel diameter used is
Figure 112005067059826-PAT00008
에 의해 첫 번째 무선태그부터 현재 무선태그까지 보정되어진 휠 직경의 산술평균값을 취함으로써 계산되는 것을 특징으로 하는 전동차의 자 동열차운전 구현방법.
Figure 112005067059826-PAT00008
And calculating the arithmetic mean value of the wheel diameters corrected from the first radio tag to the current radio tag.
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