WO2020093934A1 - Emergency operation method of maglev train, control system, and maglev train - Google Patents
Emergency operation method of maglev train, control system, and maglev train Download PDFInfo
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- WO2020093934A1 WO2020093934A1 PCT/CN2019/114921 CN2019114921W WO2020093934A1 WO 2020093934 A1 WO2020093934 A1 WO 2020093934A1 CN 2019114921 W CN2019114921 W CN 2019114921W WO 2020093934 A1 WO2020093934 A1 WO 2020093934A1
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- maglev train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for vehicles
Definitions
- the invention relates to the field of rail transit, in particular to an emergency driving method, control system and maglev train of a maglev train.
- the medium and low speed maglev trains developed in China adopt the constant-conduction short stator mode, relying on electromagnetic suction to suspend the vehicle to a certain height, so that there is no mechanical contact between the vehicle and the ground track, and the electromagnetic suction generates the guiding force, which is driven by the traction generated by the linear motor Train operation has fundamentally overcome the wheel-rail train adhesion limitation.
- the biggest feature of the maglev train is the realization of contactless operation, which is also the biggest difference and advantage of the maglev train and the wheel-rail train. If there is no reliable operation guarantee at the system level, its biggest advantage will become a fatal flaw.
- the suspension system controls the electromagnet to achieve stable suspension of the train to a certain height, so the suspension system is the core component of the maglev train, and its working reliability and availability are the key factors affecting the reliable and stable operation of the train, so the emergency work of the suspension system failure
- the shape car solution under the circumstances is the fundamental guarantee to solve whether the maglev train can operate reliably and safely.
- the vehicle running part of the medium and low speed maglev train adopts the structure of four suspension frames or five suspension frames.
- Each electromagnet is composed of 4 coils, and the two coils at both ends are connected in series and controlled by a suspension controller, which is called a suspension point.
- the electromagnet of each suspension frame is controlled by 4 suspension controllers.
- each car has 20 suspension controllers, and a train has a total of 60 suspension controllers. As long as one of the 60 suspension controllers fails, the train will withdraw from operation and can only be returned to the warehouse for repair in a slow state.
- maglev train cannot be suspended normally.
- the train uses towing mode, which causes the electromagnet current to be too large and easy to burn. If waiting for rescue, it will take time and effort, affecting the entire train operation To reduce system availability.
- the technical problem to be solved by the present invention is to provide an emergency driving method, control system and maglev train for the maglev train to improve the reliability of the train operation, minimize the adverse effects caused by the fault, and improve the vehicle Operational safety.
- an emergency driving method of a maglev train and the implementation process of the method includes:
- maglev train When there is only one suspension frame in the maglev system and it cannot work normally, the maglev train enters the emergency driving mode
- the emergency driving mode it is judged whether the current running speed of the maglev train exceeds a preset value, and if it is exceeded, the traction command is blocked until the running speed of the maglev train is less than the preset value, the train continues to run to the stop; otherwise, The train continues to run to the parking point.
- suspension controller suspension sensor or electromagnet of a suspension frame is faulty, it is determined that the suspension frame cannot work normally. At this time, the suspension controller on the same side of the suspension point of the suspension frame is closed, and the maglev train enters the emergency driving mode . Prevent excessive load during single-point operation, causing excessive electromagnet current and burning electromagnet.
- maglev train control system which includes:
- Judgment unit used to judge the number of suspension racks that cannot work normally in the maglev system
- the first execution unit is used to close the suspension controller on the same side of the suspension point of the suspension suspension failure when the number of suspension suspensions that cannot work normally is one, and control the maglev train to enter the emergency driving mode;
- the second execution unit is used to control the support wheel system to release the support wheels and control the maglev train to enter the emergency driving mode when the number of suspension racks that cannot work normally is more than two.
- the judgment unit of the present invention specifically performs the following operations:
- suspension controller suspension sensor or electromagnet of a suspension frame fails, it is determined that the suspension frame cannot work normally
- the present invention also provides a maglev train adopting the above train control system, including the maglev system; when the suspension controller, suspension sensor or electromagnet on a suspension frame fails, the maglev system
- the train control system sends a fault signal, the train control system closes the suspension controller on the same side of the suspension point on the suspension rack, and controls the maglev train to enter the emergency driving mode;
- the train control system shuts down all maglev controllers in the maglev system and casts support wheels To control the train to enter emergency driving mode.
- the present invention improves the reliability of train operation, minimizes the adverse effects caused by faults, and thus improves the safety of vehicle operation, which fundamentally solves Suspension system failure conditions such as the low availability of vehicles and the difficulty of rescue have greatly reduced the impact of the failure on the entire operating organization.
- FIG. 1 is a block diagram of the system of the present invention
- the main implementation process of the present invention is that when the train suspension system fails, the train enters the emergency driving mode, the train speed is limited, and the maximum limit of the train traction current is opened (that is, the train traction force can reach the maximum value).
- suspension control point failures or two electromagnet failures or four sensor failures that is, when two or more suspension racks cannot work normally, control the train to stop and float (at this time, the skid at the bottom of the suspension rack
- the device is in contact with the sliding surface of the F rail), and the support wheel system is turned on, and the support wheel system is used for driving.
- the maglev train emergency driving system of the present invention includes a train control device, a suspension system, a skid device, and a supporting wheel system.
- the train control device includes an emergency driving module, a control module, and a judgment module.
- the system sends control command signals.
- Command signals and feedback signals include network signals and hard-wired signals, giving priority to hard-wired signals.
- the judgment module is used to judge whether the train speed exceeds a preset value in the emergency driving mode.
- the train control device can control the train to run according to the predetermined speed limit value.
- the suspension system includes a suspension controller, a suspension sensor and a suspension electromagnet, which can accept commands from the train control device and can feed back fault signals.
- the failure signal includes the suspension controller, suspension sensor and suspension solenoid failure signal.
- the skid device is installed at the bottom of the suspension frame of the vehicle, and is in contact with the sliding surface of the F rail when the vehicle is in a floating state; when the vehicle is normally suspended, the skid device does not contact the sliding surface of the F rail.
- the skid device is composed of abrasion-resistant material, which can realize sliding drag at this point when the suspension system cannot be suspended normally.
- the support wheel system includes a support wheel hydraulic drive device and a support wheel actuator.
- the support wheel hydraulic drive can accept the train control system to release and retract signals, and has a hydraulic drive function.
- the support wheel device is installed at the bottom of the suspension frame, and the support wheel actuator is controlled by the support wheel hydraulic drive device to perform the rolling operation function.
- the maglev train control system includes:
- Judgment unit used to judge the number of suspension racks that cannot work normally in the maglev system
- the first execution unit is used to close the suspension controller on the same side of the suspension point of the suspension suspension failure when the number of suspension suspensions that cannot work normally is one, and control the maglev train to enter the emergency driving mode;
- the second execution unit is used to control the support wheel system to release the support wheels and control the maglev train to enter the emergency driving mode when the number of suspension racks that cannot work normally is more than two.
- the judging unit specifically performs the following operations: when the suspension controller, suspension sensor or electromagnet of a suspension shelf fails, it is determined that the suspension shelf cannot work normally; when more than four suspension controllers fail, or more than two electromagnetic When the iron is faulty or the four suspension sensors are faulty, it is determined that more than two suspension racks in the magnetic levitation system are not working properly.
- the magnetic levitation train of the present invention includes a magnetic levitation system and the above-mentioned train control system; the magnetic levitation system performs the following operations: when a suspension controller, suspension sensor or electromagnet on a suspension frame fails, it sends a failure signal to the train control system;
- the train control system performs the following operations: after receiving the fault signal, it closes the suspension controller on the same side of the suspension point on the suspension frame, and controls the maglev train to enter the emergency driving mode;
- the train control system turns off all maglev controllers in the maglev system and casts support wheels to control train entry Emergency driving mode.
- the train control unit also performs the following operations: when the train enters the emergency driving mode, judges whether the current running speed of the maglev train exceeds the preset value, if it exceeds, the traction command is blocked (ie, the traction force is blocked); otherwise, the train is controlled under the current traction Run to the parking point.
- the train control system can send a control signal to the skid device or the support wheel system through the network and / or the hard-wire command line, etc.
- the hard-wire signal is preferentially trusted.
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
An emergency operation method of a maglev train, a control system, and a maglev train. When there is only one suspension frame that cannot normally operate in a maglev system, the maglev train enters an emergency operation mode; when there are more than two suspension frames that cannot normally operate in the maglev system, apply support wheels and enter the emergency operation mode. The reliability of the train is improved, adverse effects caused by a fault are reduced to the greatest extent, so that the operation safety of the train is improved, and the problems of low train availability and difficulty in rescue under a fault working condition of a maglev system are solved radically.
Description
本发明涉及轨道交通领域，特别是一种磁浮列车紧急行车方法、控制系统及磁浮列车。The invention relates to the field of rail transit, in particular to an emergency driving method, control system and maglev train of a maglev train.
目前国内研制的中低速磁浮列车采用常导短定子模式，依靠电磁吸力将车辆悬浮至一定高度，使车辆与地面轨道间无机械接触，并由电磁吸力产生导向力，由直线电机产生的牵引力驱动列车运行，从根本上克服了轮轨列车粘着限制。At present, the medium and low speed maglev trains developed in China adopt the constant-conduction short stator mode, relying on electromagnetic suction to suspend the vehicle to a certain height, so that there is no mechanical contact between the vehicle and the ground track, and the electromagnetic suction generates the guiding force, which is driven by the traction generated by the linear motor Train operation has fundamentally overcome the wheel-rail train adhesion limitation.
磁浮列车最大的特点是实现了无接触运行，这也是磁浮列车与轮轨列车最大的区别和优势，若没有系统层面的可靠运行保证，其最大的优势也会变为致命的缺陷。而悬浮系统通过控制电磁铁，实现列车稳定悬浮至一定高度，故悬浮系统是磁浮列车最核心的部件，其工作可靠性和可用性是影响列车可靠稳定运行的关键所在，所以悬浮系统故障的紧急工况下的形车方案是解决磁浮列车是否能可靠安全运行的根本保证。The biggest feature of the maglev train is the realization of contactless operation, which is also the biggest difference and advantage of the maglev train and the wheel-rail train. If there is no reliable operation guarantee at the system level, its biggest advantage will become a fatal flaw. The suspension system controls the electromagnet to achieve stable suspension of the train to a certain height, so the suspension system is the core component of the maglev train, and its working reliability and availability are the key factors affecting the reliable and stable operation of the train, so the emergency work of the suspension system failure The shape car solution under the circumstances is the fundamental guarantee to solve whether the maglev train can operate reliably and safely.
目前，中低速磁浮列车车辆走行部采用四悬浮架或五悬浮架结构。每个悬浮架上左右两侧各有1个电磁铁。每个电磁铁由4个线圈组成，两端两个线圈串联在一起由1个悬浮控制器控制，称为一个悬浮点。每个悬浮架的电磁铁由4个悬浮控制器控制。当4个悬浮控制器中的任何一个出现故障时，对应的悬浮点将不能实现稳定悬浮，滑橇降落在轨道上，磁浮列车只能减速退出运行。假如五悬浮架结构三节编组的一列磁浮车，每节车有20个悬浮控制器，一列车共有60个悬浮控制器。只要60个悬浮控制器之中的1个出现故障，此列车就要退出运行，并且只能以故障状态慢速回库维修。At present, the vehicle running part of the medium and low speed maglev train adopts the structure of four suspension frames or five suspension frames. There is one electromagnet on each left and right side of each suspension frame. Each electromagnet is composed of 4 coils, and the two coils at both ends are connected in series and controlled by a suspension controller, which is called a suspension point. The electromagnet of each suspension frame is controlled by 4 suspension controllers. When any of the four suspension controllers fails, the corresponding suspension point will not be able to achieve stable suspension, the skid will land on the track, and the maglev train can only decelerate and exit the operation. Suppose a train of maglev cars in three sections grouped in a five-suspension frame structure, each car has 20 suspension controllers, and a train has a total of 60 suspension controllers. As long as one of the 60 suspension controllers fails, the train will withdraw from operation and can only be returned to the warehouse for repair in a slow state.
现有技术中，一旦悬浮系统出现故障，则导致磁浮列车不能正常悬浮，列车采用拖行方式，导致电磁铁电流过大，易烧损，若等待救援，则耗时耗力，影响整个列车运营，降低系统可用性。In the prior art, once the suspension system fails, the maglev train cannot be suspended normally. The train uses towing mode, which causes the electromagnet current to be too large and easy to burn. If waiting for rescue, it will take time and effort, affecting the entire train operation To reduce system availability.
发明内容Summary of the invention
本发明所要解决的技术问题是，针对现有技术不足，提供一种磁浮列车紧急行车方法、控制系统及磁浮列车，提高列车运行的可靠性，最大限度减少故障带来的不利影响，从而提高车辆运行安全性。The technical problem to be solved by the present invention is to provide an emergency driving method, control system and maglev train for the maglev train to improve the reliability of the train operation, minimize the adverse effects caused by the fault, and improve the vehicle Operational safety.
为解决上述技术问题，本发明所采用的技术方案是：一种磁浮列车紧急行车方法，该方法实现过程包括：In order to solve the above technical problems, the technical solution adopted by the present invention is: an emergency driving method of a maglev train, and the implementation process of the method includes:
当磁浮系统中有且仅有一个悬浮架不能正常工作时，磁浮列车进入紧急行车模式；When there is only one suspension frame in the maglev system and it cannot work normally, the maglev train enters the emergency driving mode;
当磁浮系统中两个以上悬浮架不能正常工作时，施放支撑轮，并进入紧急行车模式。When more than two suspension racks in the magnetic levitation system cannot work normally, the support wheels are cast and the emergency driving mode is entered.
本发明中，在紧急行车模式下，判断磁浮列车当前运行速度是否超过预设值，若超过，则封锁牵引指令，直至磁浮列车运行速度小于预设值时，列车继续运行至停车点；否则，列车继续运行至停车点。In the present invention, in the emergency driving mode, it is judged whether the current running speed of the maglev train exceeds a preset value, and if it is exceeded, the traction command is blocked until the running speed of the maglev train is less than the preset value, the train continues to run to the stop; otherwise, The train continues to run to the parking point.
当某一悬浮架的悬浮控制器、悬浮传感器或电磁铁故障时，判定该悬浮架不能正常工作，此时，关闭该悬浮架上故障悬浮点同一侧的悬浮控制器，磁浮列车进入紧急行车模式。防止单点运行时承担过大载荷，导致电磁铁电流过大导致烧损电磁铁。When the suspension controller, suspension sensor or electromagnet of a suspension frame is faulty, it is determined that the suspension frame cannot work normally. At this time, the suspension controller on the same side of the suspension point of the suspension frame is closed, and the maglev train enters the emergency driving mode . Prevent excessive load during single-point operation, causing excessive electromagnet current and burning electromagnet.
本发明中，当四个以上悬浮控制器故障，或两个以上电磁铁故障，或者四个悬浮传感器故障时，判定磁浮系统中两个以上悬浮架不能正常工作。In the present invention, when more than four suspension controllers fail, or more than two electromagnets fail, or four suspension sensors fail, it is determined that more than two suspension racks in the magnetic levitation system are not working properly.
相应地，本发明还提供了一种磁浮列车控制系统，其包括：Correspondingly, the invention also provides a maglev train control system, which includes:
判断单元，用于判断磁浮系统中不能正常工作的悬浮架个数；Judgment unit, used to judge the number of suspension racks that cannot work normally in the maglev system;
第一执行单元，用于在不能正常工作的悬浮架个数为一个时，关闭该悬浮架故障悬浮点同侧的悬浮控制器，控制磁浮列车进入紧急行车模式；The first execution unit is used to close the suspension controller on the same side of the suspension point of the suspension suspension failure when the number of suspension suspensions that cannot work normally is one, and control the maglev train to enter the emergency driving mode;
第二执行单元，用于在不能正常工作的悬浮架个数为两个以上时，控制支撑轮系统施放支撑轮，并控制磁浮列车进入紧急行车模式。The second execution unit is used to control the support wheel system to release the support wheels and control the maglev train to enter the emergency driving mode when the number of suspension racks that cannot work normally is more than two.
本发明所述判断单元具体执行以下操作：The judgment unit of the present invention specifically performs the following operations:
当某一悬浮架的悬浮控制器、悬浮传感器或电磁铁故障时，判定该悬浮架不能正常工作；When the suspension controller, suspension sensor or electromagnet of a suspension frame fails, it is determined that the suspension frame cannot work normally;
当四个以上悬浮控制器故障，或两个以上电磁铁故障，或者四个悬浮传感器故障时，判定磁浮系统中两个以上悬浮架不能正常工作。When more than four suspension controllers are faulty, or more than two electromagnets are faulty, or four suspension sensors are faulty, it is determined that more than two suspension racks in the magnetic levitation system are not working properly.
作为一个发明构思，本发明还提供了一种采用上述列车控制系统的磁浮列车，包括磁浮系统；当某一悬浮架上的悬浮控制器、悬浮传感器或电磁铁故障时，所述磁浮系统向所述列车控制系统发出故障信号，所述列车控制系统关闭该悬浮架上故障悬浮点同一侧的悬浮控制器，并控制磁浮列车进入紧急行车模式；As an inventive concept, the present invention also provides a maglev train adopting the above train control system, including the maglev system; when the suspension controller, suspension sensor or electromagnet on a suspension frame fails, the maglev system The train control system sends a fault signal, the train control system closes the suspension controller on the same side of the suspension point on the suspension rack, and controls the maglev train to enter the emergency driving mode;
当磁浮系统中四个以上悬浮控制器故障，或两个以上电磁铁故障，或者四个悬浮传感器故障时，则所述列车控制系统关闭所述磁浮系统中的所有磁浮控制器，并施放支撑轮，控制列车进入紧急行车模式。When more than four levitation controllers in the maglev system fail, or more than two electromagnets fail, or four levitation sensors fail, the train control system shuts down all maglev controllers in the maglev system and casts support wheels To control the train to enter emergency driving mode.
与现有技术相比，本发明所具有的有益效果为：本发明提高了列车运行的可靠性，最大限度减少了故障带来的不利影响，从而提高了车辆运行安全性，从根本上解决了悬浮系统故障工况下列车可用性不高和救援困难的问题，大大降低了故障对整个运营组织 的影响。Compared with the prior art, the present invention has the following beneficial effects: The present invention improves the reliability of train operation, minimizes the adverse effects caused by faults, and thus improves the safety of vehicle operation, which fundamentally solves Suspension system failure conditions such as the low availability of vehicles and the difficulty of rescue have greatly reduced the impact of the failure on the entire operating organization.
图1为本发明系统框图；Figure 1 is a block diagram of the system of the present invention;
图2为本发明方法流程图；2 is a flowchart of the method of the present invention;
其中，
表示网络控制信号；
表示硬线信号；
表示反馈信号；
表示液压油路。
among them, Represents network control signals; Indicates a hard-wired signal; Indicates a feedback signal; Indicates hydraulic oil circuit.
如图1和图2所示，本发明主要实现过程是当列车悬浮系统出现故障后，列车进入紧急行车模式，列车限速，开放列车牵引电流最大限值(即将列车牵引力可达到最大值)，同时控制和关闭故障悬浮点同一个悬浮架的同侧悬浮控制器落浮(即关闭悬浮架上故障悬浮点同侧的悬浮控制器)，并采用垂向滑撬拖行方式运行；若出现四个及以上悬浮控制点故障或两个电磁铁故障或四个传感器故障，即出现两个及以上悬浮架不能正常工作时，列车限速，开放列车牵引电流最大限值，控制列车停车，开启支撑轮系统，采用支撑轮行车方式。As shown in FIGS. 1 and 2, the main implementation process of the present invention is that when the train suspension system fails, the train enters the emergency driving mode, the train speed is limited, and the maximum limit of the train traction current is opened (that is, the train traction force can reach the maximum value). Simultaneously control and close the same suspension frame of the same suspension frame as the suspension point of the fault suspension point (that is, close the suspension controller on the same side of the suspension point of the suspension frame), and use the vertical sliding tow mode to run; Failure of one or more suspension control points or failure of two electromagnets or failure of four sensors, that is, when two or more suspension racks are not working properly, the train speed is limited, the maximum traction current limit of the train is opened, the train is stopped, and the support is opened The wheel system adopts the support wheel driving mode.
当悬浮系统中一个悬浮器、传感器或电磁铁故障后，该点不能正常悬浮，落浮在轨道上，悬浮系统向列车控制装置发生故障信号，列车控制系统控制该点同一悬浮架的同侧点落浮，列车自动进入紧急行车模式，列车限速，放开牵引电流最大限值，即列车利用滑撬装置滑动摩擦运行。防止单点运行时承担过大载荷，导致电磁铁电流过大导致烧损电磁铁。When a levitation device, sensor or electromagnet in the suspension system fails, the point cannot be suspended normally and falls on the track. The suspension system generates a failure signal to the train control device. The train control system controls the same side point of the same suspension frame at this point When it floats, the train automatically enters the emergency driving mode, the speed of the train is limited, and the maximum limit of the traction current is released, that is, the train runs on the friction of the skid device. Prevent excessive load during single-point operation, causing excessive electromagnet current and burning electromagnet.
若出现：四个及以上悬浮控制点故障或两个电磁铁故障或四个传感器故障，即出现两个及以上悬浮架不能正常工作时，控制列车停车落浮(此时悬浮架底部的滑撬装置与F轨滑行面接触)，开启支撑轮系统，采用支撑轮系统行车方式。If there are: four or more suspension control point failures or two electromagnet failures or four sensor failures, that is, when two or more suspension racks cannot work normally, control the train to stop and float (at this time, the skid at the bottom of the suspension rack The device is in contact with the sliding surface of the F rail), and the support wheel system is turned on, and the support wheel system is used for driving.
如图1，本发明磁浮列车紧急行车系统包括列车控制装置、悬浮系统、滑撬装置、支撑轮系统，列车控制装置包括紧急行车模块、控制模块、判断模块，控制模块可向悬浮系统和支撑轮系统发送控制指令信号。指令信号和反馈信号包括网络信号和硬线信号，优先信任硬线信号。判断模块用于在紧急行车模式下，对列车速度是否超过预设值进行判断。列车控制装置可控制列车按预定限速值运行，若列车速度超过预定限速值，封锁牵引力；若列车速度低于预设限速值，恢复牵引力，控制在该牵引力作用下运行至停车点。可实现对悬浮系统进行单点悬浮和降落的控制。悬浮系统包括悬浮控制器、悬浮传 感器和悬浮电磁铁，可接受列车控制装置命令，并能反馈故障信号。故障信号包括悬浮控制器、悬浮传感器和悬浮电磁铁故障信号。滑撬装置安装于车辆悬浮架底部，在车辆落浮状态时与F轨滑行面接触；在车辆正常悬浮状态时，滑撬装置与F轨滑行面不接触。滑撬装置由耐磨材料组成，在悬浮系统不能正常悬浮下，可实现该点滑行拖动。支撑轮系统包括支撑轮液压驱动装置和支撑轮执行装置。支撑轮液压驱动装置可接受列车控制系统施放和收起信号，具有液压驱动功能。支撑轮装置安装于悬浮架底部，支撑轮执行装置受支撑轮液压驱动装置控制，执行滚动运行功能。As shown in FIG. 1, the maglev train emergency driving system of the present invention includes a train control device, a suspension system, a skid device, and a supporting wheel system. The train control device includes an emergency driving module, a control module, and a judgment module. The system sends control command signals. Command signals and feedback signals include network signals and hard-wired signals, giving priority to hard-wired signals. The judgment module is used to judge whether the train speed exceeds a preset value in the emergency driving mode. The train control device can control the train to run according to the predetermined speed limit value. If the train speed exceeds the predetermined speed limit value, the traction force is blocked; if the train speed is lower than the preset speed limit value, the traction force is restored, and the traction force is controlled to run to the parking point. It can realize the single point suspension and landing control of the suspension system. The suspension system includes a suspension controller, a suspension sensor and a suspension electromagnet, which can accept commands from the train control device and can feed back fault signals. The failure signal includes the suspension controller, suspension sensor and suspension solenoid failure signal. The skid device is installed at the bottom of the suspension frame of the vehicle, and is in contact with the sliding surface of the F rail when the vehicle is in a floating state; when the vehicle is normally suspended, the skid device does not contact the sliding surface of the F rail. The skid device is composed of abrasion-resistant material, which can realize sliding drag at this point when the suspension system cannot be suspended normally. The support wheel system includes a support wheel hydraulic drive device and a support wheel actuator. The support wheel hydraulic drive can accept the train control system to release and retract signals, and has a hydraulic drive function. The support wheel device is installed at the bottom of the suspension frame, and the support wheel actuator is controlled by the support wheel hydraulic drive device to perform the rolling operation function.
本发明中，磁浮列车控制系统包括：In the present invention, the maglev train control system includes:
判断单元，用于判断磁浮系统中不能正常工作的悬浮架个数；Judgment unit, used to judge the number of suspension racks that cannot work normally in the maglev system;
第一执行单元，用于在不能正常工作的悬浮架个数为一个时，关闭该悬浮架故障悬浮点同侧的悬浮控制器，控制磁浮列车进入紧急行车模式；The first execution unit is used to close the suspension controller on the same side of the suspension point of the suspension suspension failure when the number of suspension suspensions that cannot work normally is one, and control the maglev train to enter the emergency driving mode;
第二执行单元，用于在不能正常工作的悬浮架个数为两个以上时，控制支撑轮系统施放支撑轮，并控制磁浮列车进入紧急行车模式。The second execution unit is used to control the support wheel system to release the support wheels and control the maglev train to enter the emergency driving mode when the number of suspension racks that cannot work normally is more than two.
具体地，判断单元具体执行以下操作：当某一悬浮架的悬浮控制器、悬浮传感器或电磁铁故障时，判定该悬浮架不能正常工作；当四个以上悬浮控制器故障，或两个以上电磁铁故障，或者四个悬浮传感器故障时，判定磁浮系统中两个以上悬浮架不能正常工作。Specifically, the judging unit specifically performs the following operations: when the suspension controller, suspension sensor or electromagnet of a suspension shelf fails, it is determined that the suspension shelf cannot work normally; when more than four suspension controllers fail, or more than two electromagnetic When the iron is faulty or the four suspension sensors are faulty, it is determined that more than two suspension racks in the magnetic levitation system are not working properly.
相应地，本发明的磁浮列车包括磁浮系统和上述列车控制系统；磁浮系统执行以下操作：当某一悬浮架上的悬浮控制器、悬浮传感器或电磁铁故障时，向列车控制系统发出故障信号；Correspondingly, the magnetic levitation train of the present invention includes a magnetic levitation system and the above-mentioned train control system; the magnetic levitation system performs the following operations: when a suspension controller, suspension sensor or electromagnet on a suspension frame fails, it sends a failure signal to the train control system;
列车控制系统执行以下操作：在接收到故障信号后关闭上述悬浮架上故障悬浮点同一侧的悬浮控制器，并控制磁浮列车进入紧急行车模式；The train control system performs the following operations: after receiving the fault signal, it closes the suspension controller on the same side of the suspension point on the suspension frame, and controls the maglev train to enter the emergency driving mode;
当磁浮系统中四个以上悬浮控制器故障，或两个以上电磁铁故障，或者四个悬浮传感器故障时，则列车控制系统关闭磁浮系统中的所有磁浮控制器，并施放支撑轮，控制列车进入紧急行车模式。When more than four levitation controllers in the maglev system fail, or more than two electromagnets fail, or four levitation sensors fail, the train control system turns off all maglev controllers in the maglev system and casts support wheels to control train entry Emergency driving mode.
列车控制单元还执行以下操作：在列车进入紧急行车模式时，判断磁浮列车当前运行速度是否超过预设值，若超过，则封锁牵引指令(即封锁牵引力)；否则，控制列车在当前牵引力作用下运行至停车点。The train control unit also performs the following operations: when the train enters the emergency driving mode, judges whether the current running speed of the maglev train exceeds the preset value, if it exceeds, the traction command is blocked (ie, the traction force is blocked); otherwise, the train is controlled under the current traction Run to the parking point.
本发明中，列车控制系统可以通过网络和/或硬线指令线等向滑撬装置或支撑轮系统发送控制信号，在网络信号与硬线信号同时存在的情况下，优先信任硬线信号。In the present invention, the train control system can send a control signal to the skid device or the support wheel system through the network and / or the hard-wire command line, etc. When the network signal and the hard-wire signal coexist, the hard-wire signal is preferentially trusted.
Claims (9)
- 一种磁浮列车紧急行车方法，其特征在于，该方法实现过程包括：An emergency driving method of a maglev train is characterized in that the implementation process of the method includes:当磁浮系统中有且仅有一个悬浮架不能正常工作时，磁浮列车进入紧急行车模式；When there is only one suspension frame in the maglev system and it cannot work normally, the maglev train enters the emergency driving mode;当磁浮系统中两个以上悬浮架不能正常工作时，施放支撑轮，并进入紧急行车模式。When more than two suspension racks in the magnetic levitation system cannot work normally, the support wheels are cast and the emergency driving mode is entered.
- 根据权利要求1所述的磁浮列车紧急行车方法，其特征在于，在紧急行车模式下，判断磁浮列车当前运行速度是否超过预设值，若超过，则封锁牵引指令，直至磁浮列车运行速度小于预设值时，列车继续运行至停车点；否则，列车继续运行至停车点。The emergency driving method of a maglev train according to claim 1, wherein in the emergency driving mode, it is judged whether the current running speed of the maglev train exceeds a preset value, and if it exceeds, the traction command is blocked until the running speed of the maglev train is less than the When the value is set, the train continues to run to the parking point; otherwise, the train continues to run to the parking point.
- 根据权利要求1所述的磁浮列车紧急行车方法，其特征在于，当某一悬浮架的悬浮控制器、悬浮传感器或电磁铁故障时，判定该悬浮架不能正常工作。The emergency driving method of a maglev train according to claim 1, wherein when a suspension controller, a suspension sensor or an electromagnet of a suspension frame fails, it is determined that the suspension frame cannot work normally.
- 根据权利要求3所述的磁浮列车紧急行车方法，其特征在于，当某一悬浮架上的悬浮控制器、悬浮传感器或电磁铁故障时，关闭该悬浮架上故障悬浮点同一侧的悬浮控制器，磁浮列车进入紧急行车模式。The emergency driving method of a maglev train according to claim 3, characterized in that when a suspension controller, a suspension sensor or an electromagnet on a suspension frame fails, the suspension controller on the same side of the suspension point on the suspension frame is closed , Maglev train enters emergency driving mode.
- 根据权利要求1所述的磁浮列车紧急行车方法，其特征在于，当四个以上悬浮控制器故障，或两个以上电磁铁故障，或者四个悬浮传感器故障时，判定磁浮系统中两个以上悬浮架不能正常工作。The emergency driving method for a maglev train according to claim 1, wherein when more than four suspension controllers fail, or more than two electromagnets fail, or four suspension sensors fail, it is determined that more than two suspensions in the maglev system The rack does not work properly.
- 一种磁浮列车控制系统，其特征在于，包括：A maglev train control system is characterized by including:判断单元，用于判断磁浮系统中不能正常工作的悬浮架个数；Judgment unit, used to judge the number of suspension racks that cannot work normally in the maglev system;第一执行单元，用于在不能正常工作的悬浮架个数为一个时，关闭该悬浮架故障悬浮点同侧的悬浮控制器，控制磁浮列车进入紧急行车模式；The first execution unit is used to close the suspension controller on the same side of the suspension point of the suspension suspension failure when the number of suspension suspensions that cannot work normally is one, and control the maglev train to enter the emergency driving mode;第二执行单元，用于在不能正常工作的悬浮架个数为两个以上时，控制支撑轮系统施放支撑轮，并控制磁浮列车进入紧急行车模式。The second execution unit is used to control the support wheel system to release the support wheels and control the maglev train to enter the emergency driving mode when the number of suspension racks that cannot work normally is more than two.
- 根据权利要求6所述的磁浮列车控制系统，其特征在于，所述判断单元具体执行以下操作：The maglev train control system according to claim 6, wherein the judgment unit specifically performs the following operations:当某一悬浮架的悬浮控制器、悬浮传感器或电磁铁故障时，判定该悬浮架不能正常工作；When the suspension controller, suspension sensor or electromagnet of a suspension frame fails, it is determined that the suspension frame cannot work normally;当四个以上悬浮控制器故障，或两个以上电磁铁故障，或者四个悬浮传感器故障时，判定磁浮系统中两个以上悬浮架不能正常工作。When more than four suspension controllers are faulty, or more than two electromagnets are faulty, or four suspension sensors are faulty, it is determined that more than two suspension racks in the magnetic levitation system are not working properly.
- 一种采用权利要求6或7所述列车控制系统的磁浮列车，其特征在于，包括磁浮系统；当某一悬浮架上的悬浮控制器、悬浮传感器或电磁铁故障时，所述磁浮系统向所述列车控制系统发出故障信号，所述列车控制系统关闭该悬浮架上故障悬浮点同一侧的悬浮控制器，并控制磁浮列车进入紧急行车模式；A magnetic levitation train adopting the train control system according to claim 6 or 7, characterized in that it includes a magnetic levitation system; when a levitation controller, levitation sensor or electromagnet on a levitation frame fails, the magnetic levitation system The train control system sends a fault signal, the train control system closes the suspension controller on the same side of the suspension point on the suspension rack, and controls the maglev train to enter the emergency driving mode;当磁浮系统中四个以上悬浮控制器故障，或两个以上电磁铁故障，或者四个悬浮传感器故障时，则所述列车控制系统关闭所述磁浮系统中的所有磁浮控制器，并施放支撑轮，控制列车进入紧急行车模式。When more than four levitation controllers in the maglev system fail, or more than two electromagnets fail, or four levitation sensors fail, the train control system shuts down all maglev controllers in the maglev system and casts support wheels To control the train to enter emergency driving mode.
- 根据权利要求8所述的磁浮列车，其特征在于，所述列车控制单元还在列车进入紧急行车模式时，判断磁浮列车当前运行速度是否超过预设值，若超过，则封锁牵引指令，直至磁浮列车运行速度小于预设值时，以该运行速度运行至停车点；否则，控制列车在当前牵引力作用下运行至停车点。The maglev train according to claim 8, wherein the train control unit also determines whether the current running speed of the maglev train exceeds the preset value when the train enters the emergency driving mode, and if it exceeds, the traction command is blocked until the maglev When the running speed of the train is less than the preset value, it runs to the stopping point at this running speed; otherwise, the train is controlled to run to the stopping point under the current traction force.
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| CN110033105B (en) * | 2019-04-18 | 2022-04-01 | 中国人民解放军国防科技大学 | Suspension system fault detection method for unbalanced data set under complex working condition |
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