WO2023116195A1 - 列车进入紧急牵引模式的控制方法和列车 - Google Patents

列车进入紧急牵引模式的控制方法和列车 Download PDF

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Publication number
WO2023116195A1
WO2023116195A1 PCT/CN2022/128202 CN2022128202W WO2023116195A1 WO 2023116195 A1 WO2023116195 A1 WO 2023116195A1 CN 2022128202 W CN2022128202 W CN 2022128202W WO 2023116195 A1 WO2023116195 A1 WO 2023116195A1
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WIPO (PCT)
Prior art keywords
hard
traction
signal
emergency
wire signal
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Ceased
Application number
PCT/CN2022/128202
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English (en)
French (fr)
Inventor
万强
谭志成
鲁豪
王璐
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BYD Co Ltd
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BYD Co Ltd
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Publication date
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Publication of WO2023116195A1 publication Critical patent/WO2023116195A1/zh
Priority to US18/614,866 priority Critical patent/US12509128B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/126—Brakes for railway vehicles coming into operation in case of exceeding a predetermined speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present disclosure relates to the technical field of rail transit, and more particularly relates to a control method for a train entering an emergency traction mode and the train.
  • the traditional rail transit train traction braking control system is to connect the traction control system, braking control system and other intelligent units distributed in the whole train through the multi-functional vehicle bus to form a train network, and the train network control system is connected to the The subsystems of each system exchange information.
  • the network control system fails, the emergency traction device is activated, and the traction device controls the train to enter the emergency traction mode.
  • This method needs to configure an emergency traction device in the train, which increases the cost of production and development.
  • the emergency traction device fails or breaks down, the emergency traction of the train will fail, and the train cannot brake again.
  • a method for controlling a train entering an emergency traction mode is provided, which is applied to a traction control system of a train, and the method includes:
  • the current emergency traction information includes:
  • the hard-wire signal of the controller includes: a non-traction hard-wire signal, detecting whether the current emergency traction information meets the conditions for entering the emergency traction mode, including:
  • the rotational speed of the motor is less than or equal to the preset threshold, it is detected whether the hard-wire signal of the controller is a non-traction hard-wire signal, and if so, the condition for entering the emergency traction mode is satisfied.
  • the non-traction hard wire signal includes at least one of a braking hard wire signal and a coasting hard wire signal.
  • the type of the hard wire signal of the controller includes at least one of the following: an emergency traction hard wire signal, a key hard wire signal, a direction hard wire signal and a traction hard wire signal.
  • corresponding operations are performed according to the type of the hardwire signal, including:
  • the hard wire signal is the pulling hard wire signal and the emergency pulling hard wire signal, if both the pulling hard wire signal and the emergency pulling hard wire signal are valid, according to the preset load and preset level bit towing the train.
  • the controller includes a front controller and a rear controller
  • the hard wire signal includes the key hard wire signal and the direction hard wire signal, judging whether the key hard wire signal comes from the head controller;
  • traction is performed according to the orientation of the front of the vehicle and the hard-wired signal of the direction; otherwise, traction is performed according to the orientation of the rear of the vehicle and the hard-wired signal of the direction.
  • the traction control system includes a traction inverter.
  • a method for controlling a train entering an emergency traction mode comprising:
  • the train is controlled to enter the emergency traction mode.
  • the current emergency traction information includes: emergency traction hard wire signal, detecting whether the current emergency traction information meets the conditions for entering the emergency traction mode, including:
  • the traction control system is controlled to enter the emergency traction mode.
  • the current emergency traction information further includes: the rotation speed of the motor and the hard-wired signal of the controller, and before controlling the traction control system to enter the emergency traction mode, the method further includes :
  • the traction control system When it is detected that the rotation speed of the motor is less than or equal to a preset threshold and the hard-wire signal of the controller is a non-traction hard-wire signal, the traction control system is controlled to enter an emergency traction mode.
  • the non-traction hard wire signal includes at least one of a braking hard wire signal and a coasting hard wire signal.
  • the method further includes:
  • the types of hard wire signals of the controller include: emergency traction hard wire signals and traction hard wire signals, and corresponding operations are performed according to the types of hard wire signals, including:
  • the hard line signal is the traction hard line signal and the emergency traction hard line signal
  • both the traction hard line signal and the emergency traction hard line signal are valid, control the traction control system according to the preset Set the load and the preset level to pull the train.
  • the types of hard wire signals of the controller include: key hard wire signals and direction hard wire signals, and corresponding operations are performed according to the types of the hard wire signals, including:
  • the hard wire signal includes the key hard wire signal and the direction hard wire signal, judging whether the key hard wire signal comes from the head controller;
  • the traction control system is controlled to perform traction according to the orientation of the front of the vehicle and the hard-wire signal of the direction; otherwise, the traction control system is controlled to perform traction according to the orientation of the rear of the vehicle and the hard-wire signal of the direction.
  • the types of hard-wire signals of the controller include: emergency traction hard-wire signals and brake hard-wire signals, and corresponding operations are performed according to the types of hard-wire signals, including:
  • the braking control system is controlled to perform braking according to a preset load and a preset level.
  • a train includes a traction inverter, a controller and a brake controller;
  • the traction inverter is used for:
  • the brake controller is used for:
  • the controller includes a front controller and a rear controller.
  • the current emergency traction information includes: emergency traction hard-wire signal, motor speed and hard-wire signal of the controller, and the traction control system detects whether the current emergency traction information is sufficient to enter the emergency traction Conditions for patterns, specifically for:
  • the non-traction hardwire signal includes at least one of a brake hardwire signal and a coast hardwire signal.
  • the types of hard wire signals of the controller include: emergency traction hard wire signals, traction hard wire signals, key hard wire signals and direction hard wire signals, and the traction control system according to the Describe the types of hard-line signals, and perform corresponding operations, specifically for:
  • the hard wire signal is the pulling hard wire signal and the emergency pulling hard wire signal, if both the pulling hard wire signal and the emergency pulling hard wire signal are valid, according to the preset load and preset level towing the train;
  • the hard wire signal includes the key hard wire signal and the direction hard wire signal, judging whether the key hard wire signal comes from the head controller;
  • traction is performed according to the orientation of the front of the vehicle and the hard-wired signal of the direction; otherwise, traction is performed according to the orientation of the rear of the vehicle and the hard-wired signal of the direction.
  • the types of hard-wire signals of the controller include: emergency traction hard-wire signals and brake hard-wire signals, and the brake control system is also used for:
  • braking is performed according to a preset load and a preset level.
  • the train entering the emergency traction mode of the present disclosure when the current emergency traction information meets the conditions for entering the emergency traction mode, the train is controlled to enter the emergency traction mode, and then according to the type of the hard line signal of the controller, the corresponding The operation of the emergency traction device does not need to be installed, which reduces the manufacturing cost of the train, and avoids the problem that the train cannot perform emergency traction after the emergency traction device fails or fails.
  • This disclosure can effectively improve the applicability of the emergency traction circuit based on hard-wire control. .
  • control method for the train entering the emergency traction mode collects the emergency traction hard wire signal of the controller, and then enters the emergency traction mode according to the validity of the emergency traction hard wire signal. After entering the emergency traction mode, according to the Braking or non-braking can be performed according to the level of the braking hard wire signal sent by the controller, which can avoid the problem that the vehicle cannot be braked after the emergency traction device fails or fails.
  • FIG. 1 shows a schematic flowchart of a control method for a train entering an emergency traction mode according to an embodiment of the present disclosure
  • FIG. 2 shows a schematic flowchart of a control method for a train entering an emergency traction mode according to an embodiment of the present disclosure
  • Figure 3 shows a schematic block diagram of a train according to an embodiment of the disclosure
  • Fig. 4 shows a schematic flowchart of a control method for a train entering an emergency traction mode according to an embodiment of the present disclosure.
  • the present disclosure provides a control method for a train to enter the emergency traction mode, which is applied to the traction control system of the train.
  • the method includes: detecting whether the current emergency traction information meets the conditions for entering the emergency traction mode; When the current emergency traction information meets the conditions for entering the emergency traction mode, control the train to enter the emergency traction mode; collect the hard line signal of the controller, and perform corresponding operations according to the type of the hard line signal.
  • the train when the current emergency traction information meets the conditions for entering the emergency traction mode, the train is controlled to enter the emergency traction mode, and then the corresponding operation is performed according to the type of the hard-wired signal of the controller, without setting up an emergency traction device, which reduces the The manufacturing cost of the train, and avoiding the problem that the train cannot perform emergency traction after the emergency traction device fails or fails, the present disclosure can effectively improve the applicability of the emergency traction circuit based on hard-wire control.
  • the present disclosure also provides a control method for a train to enter the emergency traction mode, which is applied to the brake control system of the train.
  • the method includes: collecting the emergency traction hard line signal of the controller; when the emergency traction hard line signal is valid , enter emergency traction mode.
  • the control method for the train entering the emergency traction mode of the present disclosure is to collect the emergency traction hard wire signal of the controller, and then enter the emergency traction mode according to the validity of the emergency traction hard wire signal. After entering the emergency traction mode, according to the The level of the sent braking hard wire signal is high or low for braking or non-braking, which can avoid the problem that the vehicle cannot be braked after the emergency traction device fails or fails.
  • Fig. 1 shows a schematic flowchart of a control method for a train entering an emergency traction mode according to an embodiment of the present disclosure; it is applied to a traction control system of a train.
  • the control method 100 of the train entering the emergency traction mode according to an embodiment of the present disclosure may include the following steps S101, S102 and S103:
  • step S101 it is detected whether the current emergency traction information satisfies the condition for entering the emergency traction mode.
  • the current emergency traction information includes: emergency traction hard-wire signal; motor speed; and controller hard-wire signal.
  • the controller also known as the driver controller, is a manual electrical appliance used by the driver to control the train. It is mainly used to control the running direction, power, traction and speed of the train.
  • the control equipment is also the master electrical appliance for train reversing and speed regulation.
  • detecting whether the current emergency traction information meets the conditions for entering the emergency traction mode includes: A1, detecting whether the emergency traction hard wire signal is valid; A2, when the emergency traction hard wire signal is valid, adjusting the Motor, reducing the torque of the motor to 0; A3, detecting whether the rotational speed of the motor is less than or equal to a preset threshold; A4, detecting the hard drive of the controller when the rotational speed of the motor is less than or equal to a preset threshold Whether the wire signal is a non-traction hard wire signal, if yes, the conditions for entering the emergency traction mode are met.
  • the traditional train traction braking control system is based on network control data transmission, and the train control system adopts the network priority control mode, with hard-wired control as a backup.
  • the train network communication is normal, the traction and braking commands issued by the train signal system are collected through the network control system of the train, and sent to the network control system of each group of cars through the train network to complete the traction and braking of the entire train.
  • the train is equipped with an emergency traction button, and the driver can operate the emergency traction button to make the train enter the emergency traction mode.
  • the traction control system and the braking control system realize the traction and braking control of the train by receiving hard-wired signals.
  • the traction brake control system continuously detects whether the emergency traction hard-wire signal is valid. If the train network communication is abnormal, the driver can press the emergency traction button. At this time, the emergency traction hard-wire signal becomes valid, indicating that it needs to be controlled The train enters emergency traction mode.
  • the hard-wire signal is directly connected to the pin (PIN) of the chip, and the transmission is high and low.
  • PIN pin
  • the emergency pulling hard wire signal is valid.
  • the motor is adjusted to reduce the torque of the motor to zero. Since the torque of the motor drops to 0, the train will lose traction, and at this moment the speed of the train will continuously decrease until it is in a stopped or coasting state.
  • the traction braking control system can detect whether the rotation speed of the electric motor is less than or equal to a preset threshold. Since the rotation speed of the motor corresponds to the vehicle speed, when the rotation speed of the motor is lower than the preset threshold, the vehicle speed will also decrease, for example, the vehicle speed ⁇ 0.5km/h.
  • the hard-wire signal of the controller is a non-traction hard-wire signal.
  • the non-traction hard-wire signals include braking hard-wire signals and coasting hard-wire signals. That is to say, before entering the emergency traction mode, the train should be in a non-traction state.
  • the traction control system includes a traction inverter.
  • step S102 when the current emergency traction information meets the conditions for entering the emergency traction mode, the train is controlled to enter the emergency traction mode.
  • the traction control system When the train is in the emergency traction mode, the traction control system will traction the train according to the hard wire signal sent by the controller, instead of being controlled by the network control signal sent by the network control system.
  • step S103 the hardwire signal sent by the controller is received, and corresponding operations are performed according to the type of the hardwire signal.
  • the type of the hard wire signal includes at least one of the following: an emergency traction hard wire signal, a key hard wire signal, a direction hard wire signal and a traction hard wire signal.
  • corresponding operations are performed according to the type of the hard wire signal, including: when the hard wire signal is a pulling hard wire signal and the emergency pulling hard wire signal, if the pulling hard wire signal and When the emergency towing hard wire signals are all valid, the train is towed according to the preset load and the preset level.
  • the train is provided with a load sensor, and when the train is in emergency traction mode, it will no longer be towed according to the actual load, but will be towed according to the preset load, for example, the preset load is 3000 people.
  • the preset load can be the default load set when the train leaves the factory, or it can be set according to actual needs.
  • the grades of trains include AW0, AW1, AW2, and AW3.
  • AW0 means empty
  • AW1 means full
  • AW2 means full
  • AW3 means overload.
  • the default level is AW1.
  • the train After the train enters the emergency traction mode, it is also detected in real time whether the emergency traction hard-wire signal is valid, and if it is valid, the train will be towed according to the preset load and preset level according to the traction hard-wire signal; if After the train enters the emergency traction mode, it detects that the emergency traction hard wire signal is invalid, and then exits the emergency traction mode.
  • the controller includes a front controller and a rear controller.
  • the front controller can control the train operation
  • the rear controller can control the train operation.
  • corresponding operations are performed according to the type of the hard wire signal, including: B1, when the hard wire signal includes a key hard wire signal and a direction hard wire signal, judging whether the key hard wire signal is from If so, execute step B2; otherwise, execute step B3; B2, perform traction according to the orientation of the front of the vehicle and the hard-wired signal in the direction; B2, otherwise, perform traction according to the orientation of the rear of the vehicle and the Directional hard-wired signals for traction.
  • the traction control system controls the train to pull forward with the orientation of the locomotive as a reference; if the direction hard line signal is low, it means to pull backward, then the traction control system controls the train to pull backward.
  • the hard wire signal of the key comes from the rear controller, it means that the rear controller controls the direction of the train at this time, and the orientation of the rear of the car is consistent with the forward direction of the train.
  • the traction control system controls the train to traction with the direction of the rear of the train as a reference; if the direction hard line signal is low, which means backward traction, the traction control system controls the train to traction backward.
  • the train when the current emergency traction information meets the conditions for entering the emergency traction mode, the train is controlled to enter the emergency traction mode, and then the corresponding operation is performed according to the type of the hard-wired signal of the controller, without setting up an emergency traction device, which reduces the The manufacturing cost of the train, and avoiding the problem that the train cannot perform emergency traction after the emergency traction device fails or fails, and the problem that the emergency traction device cannot control the braking system, this disclosure can effectively improve the application of the emergency traction circuit based on hard wire control sex.
  • Fig. 2 shows a schematic flowchart of a control method for a train entering an emergency traction mode according to an embodiment of the present disclosure; it is applied to a braking control system of a train.
  • a control method 200 for a train entering an emergency traction mode according to an embodiment of the present disclosure may include the following steps S101 and S102:
  • step S101 the emergency traction hard wire signal of the controller is collected.
  • the brake control system includes a brake controller.
  • the brake control system continuously collects the emergency traction hard-wire signal of the controller. According to the introduction of the above embodiment, when the emergency traction hard wire signal is at a high level, the emergency traction hard wire signal is valid.
  • the method for detecting whether the emergency pulling hard wire signal is valid may refer to the introduction of the above-mentioned embodiments.
  • step S102 when the emergency traction hard wire signal is valid, the emergency traction mode is entered.
  • the hard wire signal includes a braking hard wire signal.
  • the method when the emergency traction hard-wire signal is valid, after entering the emergency traction mode, the method further includes: C1, receiving the brake hard-wire signal sent by the controller; C2, when the brake When the dynamic hard line signal is valid, it will brake according to the preset load and level.
  • the introduction of the preset load and the preset level can refer to the introduction of the above-mentioned embodiments.
  • the control method for the train entering the emergency traction mode of the present disclosure is to collect the emergency traction hard wire signal of the controller, and then enter the emergency traction mode according to the validity of the emergency traction hard wire signal. After entering the emergency traction mode, according to the The level of the sent braking hard wire signal is high or low for braking or non-braking, which can avoid the problem that the vehicle cannot be braked after the emergency traction device fails or fails.
  • Fig. 4 is a flowchart of a control method for a train entering an emergency traction mode according to an embodiment of the present disclosure.
  • control method for the train entering the emergency traction mode may include the following steps:
  • the current emergency traction information includes: an emergency traction hard-wire signal
  • detecting whether the current emergency traction information meets the conditions for entering the emergency traction mode includes: when the emergency traction hard-wire signal is valid, control the brake control The system enters the emergency traction mode; when the emergency traction hard wire signal is valid, the traction control system is controlled to enter the emergency traction mode.
  • the current emergency traction information further includes: the rotational speed of the motor and the hardwire signal of the controller, and before controlling the traction control system to enter the emergency traction mode, the method further includes: when the emergency traction hardwire signal is valid , adjust the motor to reduce the torque of the motor to 0; when it is detected that the speed of the motor is less than or equal to the preset threshold and the hard-wire signal of the controller is a non-traction hard-wire signal, the traction control system is controlled to enter the emergency traction mode.
  • the non-traction hardwire signal includes at least one of a brake hardwire signal and a coast hardwire signal.
  • the method further includes: receiving a hardwire signal sent by the controller; and performing corresponding operations according to the type of the hardwire signal.
  • the types of hard-wire signals of the controller include: emergency pulling hard-wire signals and pulling hard-wire signals, and corresponding operations are performed according to the types of hard-wire signals, including: when the hard-wire signals are When the traction hard-wire signal and the emergency traction hard-wire signal are both valid, the traction control system is controlled to pull the train according to the preset load and preset level.
  • the types of hard wire signals of the controller include: key hard wire signals and direction hard wire signals, and corresponding operations are performed according to the types of hard wire signals, including: when the hard wire signals include key When the hard-wire signal and the direction hard-wire signal are used, judge whether the key hard-wire signal comes from the front controller; Tail orientation and direction hard-wired signals for traction.
  • the types of hard wire signals of the controller include: emergency traction hard wire signals and brake hard wire signals, and corresponding operations are performed according to the types of hard wire signals, including: When the line signal and emergency traction hard line signal are both valid, the braking control system is controlled to perform braking according to the preset load and preset level.
  • the brake control system is controlled to enter the emergency traction mode. Since the traction control system needs to ensure that the train is almost completely stationary before it can determine that it needs to enter the emergency traction mode, when it is determined that the emergency traction signal is valid (such as a high-level signal), first adjust the motor to reduce the torque of the motor to 0, and obtain the motor speed in real time. When the motor speed is less than or equal to the preset threshold (such as 0.5km/h), it is considered that the speed of the train is close to stationary.
  • the preset threshold such as 0.5km/h
  • the traction signal of the controller is a non-traction hard-wire signal, For example, a braking hard-wire signal or an inertia hard-wire signal, if yes, it can be determined that the vehicle will not move forward due to inertia, and at this time the traction control system is controlled to enter the emergency traction mode.
  • a non-traction hard-wire signal For example, a braking hard-wire signal or an inertia hard-wire signal, if yes, it can be determined that the vehicle will not move forward due to inertia, and at this time the traction control system is controlled to enter the emergency traction mode.
  • the train is braked according to the hard line signal of the controller.
  • the hard line signal is a brake hard line signal
  • the emergency traction signal is still valid, the control
  • the brake control system brakes according to the preset load and preset level.
  • the traction control system When the traction control system enters the emergency traction mode, the traction control of the train is carried out according to the hard line signal of the controller. For example, when the hard-wire signal is a traction hard-wire signal, if the emergency traction signal is still valid, the traction control system is controlled to perform braking according to a preset load and a preset level.
  • the hard wire signal is the key hard wire signal and the direction hard wire signal
  • the emergency traction signal remains valid, it is judged whether the key hard wire signal comes from the front controller; if the key hard wire signal comes from the front of the car, The traction control system is controlled to perform traction according to the orientation of the front of the vehicle and the hard-wire signal of the direction; otherwise, the traction control system is controlled to perform traction according to the orientation of the rear of the vehicle and the hard-wire signal of the direction.
  • the control method for the train entering the emergency traction mode of the present invention can judge whether the brake control system and the traction control system of the vehicle enter the emergency traction mode according to different conditions, and control the brake control system and the traction control system according to the hard line signal of the controller.
  • the control system executes the corresponding control strategy.
  • FIG. 3 shows a schematic block diagram of a train 300 according to an embodiment of the present disclosure.
  • the train 300 includes: a traction control system 301 , a controller 302 and a brake control system 303 .
  • the controller 302 includes a front controller 3021 and a rear controller 3022 .
  • the traction control system 301 is used for:
  • the hardwire signal sent by the controller 302 is received, and corresponding operations are performed according to the type of the hardwire signal.
  • the braking control system 303 is used for:
  • the controller 302 includes a front controller 3021 and a rear controller 3022
  • the traction control system 301 includes a traction inverter
  • the brake control system 303 includes a brake controller.
  • the current emergency traction information includes: emergency traction hard-wire signal, motor speed and hard-wire signal of the controller, and the traction control system 301 detects whether the current emergency traction information meets the emergency Conditions for traction mode, specifically for:
  • the non-traction hardwire signal includes at least one of a brake hardwire signal and a coast hardwire signal.
  • the types of hard wire signals of the controller include: emergency traction hard wire signals, traction hard wire signals, key hard wire signals and direction hard wire signals, and the traction control system 301 according to The type of the hardwired signal, perform corresponding operations, specifically for:
  • the hard wire signal is the pulling hard wire signal and the emergency pulling hard wire signal, if both the pulling hard wire signal and the emergency pulling hard wire signal are valid, according to the preset load and preset level towing the train;
  • the hard wire signal includes the key hard wire signal and the direction hard wire signal, judging whether the key hard wire signal comes from the head controller;
  • traction is performed according to the orientation of the front of the vehicle and the hard-wired signal of the direction; otherwise, traction is performed according to the orientation of the rear of the vehicle and the hard-wired signal of the direction.
  • the types of hard wire signals of the controller include: emergency traction hard wire signals and brake hard wire signals, and the brake control system 303 is also used for:
  • braking is performed according to a preset load and a preset level.
  • the train of the embodiment of the present disclosure has the same advantages as the aforementioned method because it can implement the aforementioned control method for the train to enter the emergency traction mode.
  • the disclosed devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another device, or some features may be omitted, or not implemented.
  • the various component embodiments of the present disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to the embodiments of the present disclosure.
  • DSP digital signal processor
  • the present disclosure can also be implemented as an apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein.
  • Such a program realizing the present disclosure may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

一种列车进入紧急牵引模式的控制方法，列车进入紧急牵引模式的控制方法应用于列车的牵引控制系统，方法包括：检测当前紧急牵引信息是否满足进入紧急牵引模式的条件；当当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式；接收司控器发送的硬线信号，并根据硬线信号的种类，执行相应的操作。

Description

列车进入紧急牵引模式的控制方法和列车
相关申请的交叉引用
本公开基于申请号为202111601817.0，申请日为2021年12月24日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本公开作为参考。
技术领域
本公开涉及轨道交通技术领域，更具体地涉及一种列车进入紧急牵引模式的控制方法和列车。
背景技术
传统的轨道交通列车牵引制动控制系统，是通过多功能车辆总线将牵引控制系统、制动控制系统等分布于整个列车的各个智能单元联结成一个列车网络,列车网络控制系统通过车辆总线与相连的各子系统进行信息交互。传统技术中，当网络控制系统出现故障时，启动紧急牵引装置，由牵引装置控制列车进入紧急牵引模式。这种方式需要在列车中配置紧急牵引装置，增加了生产开发成本。而且，当紧急牵引装置失效或故障后列车紧急牵引将失败，列车无法再次制动。
公开内容
为了解决上述至少一个问题中而提出了本公开。根据本公开一方面，提供了一种列车进入紧急牵引模式的控制方法，应用于列车的牵引控制系统，所述方法包括：
检测当前紧急牵引信息是否满足进入紧急牵引模式的条件；
当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式；
接收司控器发送的硬线信号，并根据所述硬线信号的种类，执行相应的操作。
在本公开的一个实施例中，所述当前紧急牵引信息包括：
紧急牵引硬线信号；
电机的转速；以及
司控器的硬线信号。
在本公开的一个实施例中，所述司控器的硬线信号包括：非牵引硬线信号，检测当前紧急牵引信息是否满足进入紧急牵引模式的条件，包括：
检测所述紧急牵引硬线信号是否有效；
当所述紧急牵引硬线信号有效时，调整所述电机，使所述电机的扭矩降为0；
检测所述电机的转速是否小于等于预设阈值；
当所述电机的转速小于等于预设阈值时，检测所述司控器的硬线信号是否为非牵引硬线信号，如果是，则满足进入紧急牵引模式的条件。
在本公开的一个实施例中，所述非牵引硬线信号包括制动硬线信号和惰行硬线信号中的至少一种。
在本公开的一个实施例中，所述司控器的硬线信号的种类包括以下至少一种：紧急牵引硬线信号、钥匙硬线信号、方向硬线信号和牵引硬线信号。
在本公开的一个实施例中，根据所述硬线信号的种类，执行相应的操作，包括：
当所述硬线信号为所述牵引硬线信号和所述紧急牵引硬线信号时，若所述牵引硬线信号和所述紧急牵引硬线信号均有效时，按照预设载荷和预设级位牵引所述列车。
在本公开的一个实施例中，所述司控器包括车头司控器和车尾司控器；
根据所述硬线信号的种类，执行相应的操作，包括：
当所述硬线信号包括所述钥匙硬线信号和所述方向硬线信号时，判断所述钥匙硬线信号是否来自于所述车头司控器；
如果是，则根据车头的朝向及所述方向硬线信号进行牵引；否则根据车尾的朝向及所述方向硬线信号进行牵引。
在本公开的一个实施例中，所述牵引控制系统包括牵引逆变器。
根据本公开另一方面，提供一种列车进入紧急牵引模式的控制方法，所述方法包括：
检测当前紧急牵引信息是否满足进入紧急牵引模式的条件；
当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式。
在本公开的一个实施例中，所述当前紧急牵引信息包括：紧急牵引硬线信号，检测当前紧急牵引信息是否满足进入紧急牵引模式的条件，包括：
在所述紧急牵引硬线信号有效时，控制制动控制系统进入所述紧急牵引模式；
在所述紧急牵引硬线信号有效时，控制牵引控制系统进入所述紧急牵引模式。
在本公开的一个实施例中，所述当前紧急牵引信息还包括：电机的转速和司控器的硬线信号，在控制所述牵引控制系统进入所述紧急牵引模式之前，所述方法还包括：
在所述紧急牵引硬线信号有效时，调整所述电机，使所述电机的扭矩降为0；
在检测到所述电机的转速小于等于预设阈值，且所述司控器的硬线信号为非牵引硬线信号时，控制所述牵引控制系统进入紧急牵引模式。
在本公开的一个实施例中，所述非牵引硬线信号包括制动硬线信号和惰行硬线信号中的至少一种。
在本公开的一个实施例中，在控制列车进入紧急牵引模式之后，所述方法还包括：
接收司控器发送的硬线信号；
根据所述硬线信号的种类，执行相应的操作。
在本公开的一个实施例中，所述司控器的硬线信号的种类包括：紧急牵引硬线信号和牵引硬线信号，根据所述硬线信号的种类，执行相应的操作，包括：
在所述硬线信号为所述牵引硬线信号和所述紧急牵引硬线信号时，若所述牵引硬线信号和所述紧急牵引硬线信号均有效时，控制所述牵引控制系统按照预设载荷和预设级位牵引所述列车。
在本公开的一个实施例中，所述司控器的硬线信号的种类包括：钥匙硬线信号和方向硬线信号，根据所述硬线信号的种类，执行相应的操作，包括：
当所述硬线信号包括所述钥匙硬线信号和所述方向硬线信号时，判断所述钥匙硬线信号是否来自于所述车头司控器；
如果是，则控制所述牵引控制系统根据车头的朝向及所述方向硬线信号进行牵引；否则控制所述牵引控制系统根据车尾的朝向及所述方向硬线信号进行牵引。
在本公开的一个实施例中，所述司控器的硬线信号的种类包括：紧急牵引硬线信号和制动硬线信号，根据所述硬线信号的种类，执行相应的操作，包括：
当所述制动硬线信号和紧急牵引硬线信号均有效时，控制所述制动控制系统按照预设载荷和预设级位进行制动。
根据本公开再一方面，提供一种列车，所述列车包括牵引逆变器、司控器和制动控制器；
其中，所述牵引逆变器用于：
检测当前紧急牵引信息是否满足进入紧急牵引模式的条件；
当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式；
接收司控器发送的硬线信号，并根据所述硬线信号的种类，执行相应的操作；
其中，所述制动控制器用于：
采集所述司控器的紧急牵引硬线信号；
当所述紧急牵引硬线信号有效时，进入所述紧急牵引模式；
其中，所述司控器包括车头司控器和车尾司控器。
在本公开的一个实施例中，所述当前紧急牵引信息包括：紧急牵引硬线信号、电机的 转速和司控器的硬线信号，所述牵引控制系统检测当前紧急牵引信息是否满足进入紧急牵引模式的条件，具体用于：
在所述紧急牵引硬线信号有效时，调整所述电机，使所述电机的扭矩降为0；
在检测到所述电机的转速小于等于预设阈值，且所述司控器的硬线信号为非牵引硬线信号时，进入紧急牵引模式；
所述非牵引硬线信号包括制动硬线信号和惰行硬线信号中的至少一种。
在本公开的一个实施例中，所述司控器的硬线信号的种类包括：紧急牵引硬线信号、牵引硬线信号、钥匙硬线信号和方向硬线信号，所述牵引控制系统根据所述硬线信号的种类，执行相应的操作，具体用于：
在所述硬线信号为所述牵引硬线信号和所述紧急牵引硬线信号时，若所述牵引硬线信号和所述紧急牵引硬线信号均有效时，按照预设载荷和预设级位牵引所述列车；
当所述硬线信号包括所述钥匙硬线信号和所述方向硬线信号时，判断所述钥匙硬线信号是否来自于所述车头司控器；
如果是，则根据车头的朝向及所述方向硬线信号进行牵引；否则根据车尾的朝向及所述方向硬线信号进行牵引。
在本公开的一个实施例中，所述司控器的硬线信号的种类包括：紧急牵引硬线信号和制动硬线信号，所述制动控制系统还用于：
当所述制动硬线信号和紧急牵引硬线信号均有效时，按照预设载荷和预设级位进行制动。
根据本公开的列车进入紧急牵引模式的控制方法，当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式，然后根据司控器的硬线信号的种类，执行相应的操作，无需设置紧急牵引装置，降低了列车的制造成本，而且避免了紧急牵引装置失效或故障后列车无法进行紧急牵引的问题，本公开可以有效提升基于硬线控制的紧急牵引电路的适用性。
另外，本公开的列车进入紧急牵引模式的控制方法，通过采集司控器的紧急牵引硬线信号，然后根据紧急牵引硬线信号的有效，进入紧急牵引模式，在进入紧急牵引模式后，根据司控器发送的制动硬线信号的电平高低进行制动或非制动，可以避免紧急牵引装置失效或故障后车辆无法进行制动的问题。
附图说明
通过结合附图对本公开实施例进行更详细的描述，本公开的上述以及其它目的、特征和优势将变得更加明显。附图用来提供对本公开实施例的进一步理解，并且构成说明书的 一部分，与本公开实施例一起用于解释本公开，并不构成对本公开的限制。在附图中，相同的参考标号通常代表相同部件或步骤。
图1示出根据本公开实施例的列车进入紧急牵引模式的控制方法的示意性流程图；
图2示出根据本公开实施例的列车进入紧急牵引模式的控制方法的示意性流程图；
图3示出根据本公开实施例的列车的示意性框图；
图4示出根据本公开实施例的列车进入紧急牵引模式的控制方法的示意性流程图。
具体实施方式
为了使得本公开的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本公开的示例实施例。显然，所描述的实施例仅仅是本公开的一部分实施例，而不是本公开的全部实施例，应理解，本公开不受这里描述的示例实施例的限制。基于本公开中描述的本公开实施例，本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本公开的保护范围之内。
基于前述的技术问题，本公开提供了一种列车进入紧急牵引模式的控制方法，应用于列车的牵引控制系统，所述方法包括：检测当前紧急牵引信息是否满足进入紧急牵引模式的条件；当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式；采集司控器的硬线信号，并根据所述硬线信号的种类，执行相应的操作。本公开当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式，然后根据司控器的硬线信号的种类，执行相应的操作，无需设置紧急牵引装置，降低了列车的制造成本，而且避免了紧急牵引装置失效或故障后列车无法进行紧急牵引的问题，本公开可以有效提升基于硬线控制的紧急牵引电路的适用性。
本公开还提供了一种列车进入紧急牵引模式的控制方法，应用于列车的制动控制系统，所述方法包括：采集司控器的紧急牵引硬线信号；当所述紧急牵引硬线信号有效时，进入紧急牵引模式。本公开的列车进入紧急牵引模式的控制方法，通过采集司控器的紧急牵引硬线信号，然后根据紧急牵引硬线信号的有效，进入紧急牵引模式，在进入紧急牵引模式后，根据司控器发送的制动硬线信号的电平高低进行制动或非制动，可以避免紧急牵引装置失效或故障后车辆无法进行制动的问题。
下面结合附图来详细描述根据本公开实施例的列车进入紧急牵引模式的控制方法的方案。在不冲突的前提下，本公开的各个实施例的特征可以相互结合。
图1示出根据本公开实施例的列车进入紧急牵引模式的控制方法的示意性流程图；应用于列车的牵引控制系统。如图1所示，根据本公开实施例的列车进入紧急牵引模式的控 制方法100可以包括如下步骤S101、步骤S102和步骤S103：
在步骤S101，检测当前紧急牵引信息是否满足进入紧急牵引模式的条件。
其中，所述当前紧急牵引信息包括：紧急牵引硬线信号；电机的转速；以及司控器的硬线信号。
其中，司控器也称为司机控制器，是司机用来操纵列车的一种手动电器，它主要用来控制列车的运行方向、功率、牵引力及速度等，是铁道列车、动车组及工业自动化的控制设备，也是列车换向、调速的主令电器。
在一个示例中，检测当前紧急牵引信息是否满足进入紧急牵引模式的条件，包括：A1，检测所述紧急牵引硬线信号是否有效；A2，当所述紧急牵引硬线信号有效时，调整所述电机，使所述电机的扭矩降为0；A3，检测所述电机的转速是否小于等于预设阈值；A4，当所述电机的转速小于等于预设阈值时，检测所述司控器的硬线信号是否为非牵引硬线信号，如果是，则满足进入紧急牵引模式的条件。
传统列车牵引制动控制系统是基于网络控制数据传输，列车控制系统采用网络优先的控制方式，由硬线控制作为备用。列车网络通信正常时，通过列车的网络控制系统作为采集列车信号系统发出的牵引、制动等命令，并通过列车网络发送到每组车厢的网络控制系统，以完成整个列车的牵引及制动。为了保证列车在网络控制系统发生故障情况下，列车能够继续运行到下一站，列车设置了紧急牵引按钮，司机可以通过操作紧急牵引按钮来使列车进入紧急牵引模式。当列车处于紧急牵引模式时，牵引控制系统、制动控制系统通过接收硬线信号来实现列车的牵引和制动控制。
在列车运行过程中，牵引制动控制系统持续检测紧急牵引硬线信号是否有效，如果列车网络通信发生异常，司机可以按下紧急牵引按钮，这时紧急牵引硬线信号变为有效，说明需要控制列车进入紧急牵引模式。
一般来说，硬线信号直接与芯片的引脚(PIN)相连，传输的是高低电平。在本实施例中，当紧急牵引硬线信号为高电平时，紧急牵引硬线信号有效。
当牵引制动控制系统检测到紧急牵引硬线信号有效时，调整所述电机，使所述电机的扭矩降为0。由于电机的扭矩降为0，列车将失去牵引，这时列车的车速将不断降低，直至处于停止或者惰行状态。
然后，牵引制动控制系统可以检测所述电机的转速是否小于等于预设阈值。由于电机的转速对应车速，当电机的转速小于预设阈值时，车速也将减小，例如，车速≦0.5km/h。
当电机的转速对应的车速达到足够小(例如，小于等于0.5km/h)时，这时检测司控器的硬线信号是否为非牵引硬线信号。其中非牵引硬线信号包括制动硬线信号和惰行硬线信号。也就是说在进入紧急牵引模式之前，列车应当处于非牵引状态。
其中，所述牵引控制系统包括牵引逆变器。
在步骤S102，当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式。
在列车处于紧急牵引模式时，牵引控制系统将根据司控器发送的硬线信号对列车进行牵引，而不在受网络控制系统发送的网络控制信号的控制。
在步骤S103，接收司控器发送的硬线信号，并根据所述硬线信号的种类，执行相应的操作。
其中，所述硬线信号的种类包括以下至少一种：紧急牵引硬线信号、钥匙硬线信号、方向硬线信号和牵引硬线信号。
在一个示例中，根据所述硬线信号的种类，执行相应的操作，包括：当所述硬线信号为牵引硬线信号和所述紧急牵引硬线信号时，若所述牵引硬线信号和所述紧急牵引硬线信号均有效时，按照预设载荷和预设级位牵引所述列车。
通常列车上设置有载荷传感器，当列车处于紧急牵引模式时，将不再按照实际载荷牵引，而是按照预设的载荷进行牵引，例如，预设载荷为3000人。预设载荷可以是列车出厂时设置的默认载荷，也可以根据实际需要设定。
一般来说，列车的级位包括AW0、AW1、AW2、AW3四级。其中，AW0表示空载，AW1表示满座，AW2表示满载，AW3表示超载。例如，预设级位为AW1。
需要说明的是，在列车进入紧急牵引模式之后，还实时检测紧急牵引硬线信号是否有效，在有效的情况下，才会根据牵引硬线信号按照预设载荷和预设级位牵引列车；若在列车进入紧急牵引模式之后，检测到紧急牵引硬线信号无效，则退出紧急牵引模式。
其中，所述司控器包括车头司控器和车尾司控器。列车在轨道上运行时，可以由车头司控器控制列车运行，当列车需要调换方向时，则由车尾司控器控制列车运行。
在一个示例中，根据所述硬线信号的种类，执行相应的操作，包括：B1，当所述硬线信号包括钥匙硬线信号和方向硬线信号时，判断所述钥匙硬线信号是否来自于所述车头司控器；如果是，则执行步骤B2；否则，执行步骤B3；B2，则根据车头的朝向及所述方向硬线信号进行牵引；B2，否则根据车尾的朝向及所述方向硬线信号进行牵引。
例如，当钥匙硬线信号来自于车头司控器，说明这时由车头司控器控制列车运行，车头的朝向与列车的前进方向一致，如果方向硬线信号为高电平，表示向前牵引，则牵引控制系统控制列车以车头的朝向作为参照向前进行牵引；如果方向硬线信号为低电平，表示向后牵引，则牵引控制系统控制列车，向后进行牵引。当钥匙硬线信号来自于车尾司控器，说明这时由车尾司控器控制列车方向，车尾的朝向与列车的前进方向一致，如果方向硬线信号为高电平，表示向前牵引，则牵引控制系统控制列车以车尾的朝向作为参照进行牵引； 如果方向硬线信号为低电平，表示向后牵引，则牵引控制系统控制列车向后进行牵引。
本公开当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式，然后根据司控器的硬线信号的种类，执行相应的操作，无需设置紧急牵引装置，降低了列车的制造成本，而且避免了紧急牵引装置失效或故障后列车无法进行紧急牵引的问题，以及紧急牵引装置无法控制制动系统的问题，本公开可以有效提升基于硬线控制的紧急牵引电路的适用性。
图2示出根据本公开实施例的列车进入紧急牵引模式的控制方法的示意性流程图；应用于列车的制动控制系统。如图1所示，根据本公开实施例的列车进入紧急牵引模式的控制方法200可以包括如下步骤S101和步骤S102：
在步骤S101，采集司控器的紧急牵引硬线信号。
其中，制动控制系统包括制动控制器。
在本公开的实施例中，制动控制系统持续采集司控器的紧急牵引硬线信号。根据上述实施例的介绍，当紧急牵引硬线信号为高电平时，紧急牵引硬线信号有效。
其中，检测紧急牵引硬线信号是否有效的方法可以参见上述实施例的介绍。
在步骤S102，当所述紧急牵引硬线信号有效时，进入紧急牵引模式。
其中，所述硬线信号包括制动硬线信号。
在一个示例中，当所述紧急牵引硬线信号有效时，进入紧急牵引模式之后，所述方法还包括：C1，接收所述司控器发送的制动硬线信号；C2，当所述制动硬线信号有效时，按照预设载荷和级位进行制动。
其中，预设载荷和预设级位的介绍可以参见上述实施例的介绍。
本公开的列车进入紧急牵引模式的控制方法，通过采集司控器的紧急牵引硬线信号，然后根据紧急牵引硬线信号的有效，进入紧急牵引模式，在进入紧急牵引模式后，根据司控器发送的制动硬线信号的电平高低进行制动或非制动，可以避免紧急牵引装置失效或故障后车辆无法进行制动的问题。
图4为根据本公开一个实施例的列车进入紧急牵引模式的控制方法的流程图。
如图4所示，本公开实施例的列车进入紧急牵引模式的控制方法可包括以下步骤：
S401，检测当前紧急牵引信息是否满足进入紧急牵引模式的条件。
S402，当当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式。
在本公开的一些实施例中，当前紧急牵引信息包括：紧急牵引硬线信号，检测当前紧急牵引信息是否满足进入紧急牵引模式的条件，包括：在紧急牵引硬线信号有效时，控制制动控制系统进入紧急牵引模式；在紧急牵引硬线信号有效时，控制牵引控制系统进入紧 急牵引模式。
在本公开的一些实施例中，当前紧急牵引信息还包括：电机的转速和司控器的硬线信号，在控制牵引控制系统进入紧急牵引模式之前，方法还包括：在紧急牵引硬线信号有效时，调整电机，使电机的扭矩降为0；在检测到电机的转速小于等于预设阈值，且司控器的硬线信号为非牵引硬线信号时，控制牵引控制系统进入紧急牵引模式。
在本公开的一些实施例中，非牵引硬线信号包括制动硬线信号和惰行硬线信号中的至少一种。
在本公开的一些实施例中，在控制列车进入紧急牵引模式之后，方法还包括：接收司控器发送的硬线信号；根据硬线信号的种类，执行相应的操作。
在本公开的一些实施例中，司控器的硬线信号的种类包括：紧急牵引硬线信号和牵引硬线信号，根据硬线信号的种类，执行相应的操作，包括：在硬线信号为牵引硬线信号和紧急牵引硬线信号时，若牵引硬线信号和紧急牵引硬线信号均有效时，控制牵引控制系统按照预设载荷和预设级位牵引列车。
在本公开的一些实施例中，司控器的硬线信号的种类包括：钥匙硬线信号和方向硬线信号，根据硬线信号的种类，执行相应的操作，包括：当硬线信号包括钥匙硬线信号和方向硬线信号时，判断钥匙硬线信号是否来自于车头司控器；如果是，则控制牵引控制系统根据车头的朝向及方向硬线信号进行牵引；否则控制牵引控制系统根据车尾的朝向及方向硬线信号进行牵引。
在本公开的一些实施例中，司控器的硬线信号的种类包括：紧急牵引硬线信号和制动硬线信号，根据硬线信号的种类，执行相应的操作，包括：当制动硬线信号和紧急牵引硬线信号均有效时，控制制动控制系统按照预设载荷和预设级位进行制动。
具体而言，在接收到紧急牵引信号时，判断紧急牵引信号是否为高电平信号，如果为高电平信号，则控制制动控制系统进入紧急牵引模式。由于牵引控制系统需要保证列车在近乎完全静止的情况下，才能够确定需要进入紧急牵引模式，因此在确定紧急牵引信号有效(如高电平信号)时，先调整电机，使电机的扭矩降为0，并实时获取电机转速，当电机转速小于等于预设阈值(如0.5km/h)时，认为列车的车速接近静止，此时还需要司控器的牵引信号是否为非牵引硬线信号，例如，制动硬线信号或者惰性硬线信号，如果是，则可以确定车辆不会由于惯性而出现向前运行的情况，此时控制牵引控制系统进入紧急牵引模式。
在制动控制系统进入紧急牵引模式时，根据司控器的硬线信号对列车进行制动控制，例如，在硬线信号为制动硬线信号时，若紧急牵引信号仍保持有效，则控制制动控制系统按照预设载荷和预设级位进行制动。
在牵引控制系统进入紧急牵引模式时，根据司控器的硬线信号对列车进行牵引控制。例如，在硬线信号为牵引硬线信号时，若紧急牵引信号仍保持有效，则控制牵引控制系统按照预设载荷和预设级位进行制动。又如，在硬线信号为钥匙硬线信号和方向硬线信号时，若紧急牵引信号仍保持有效，则判断钥匙硬线信号是否来自于车头司控器；如果钥匙硬线信号来自于车头，控制所述牵引控制系统根据车头的朝向及所述方向硬线信号进行牵引；否则，控制所述牵引控制系统根据车尾的朝向及所述方向硬线信号进行牵引。
本发明的列车进入紧急牵引模式的控制方法，能够根据不同的条件判断车辆的制动控制系统和牵引控制系统是否进入紧急牵引模式，并根据司控器的硬线信号控制制动控制系统和牵引控制系统执行相应的控制策略。
下面结合图3对本公开的列车进行描述，其中，图3示出根据本公开实施例的列车300的示意性框图。
如图3所示，列车300包括：牵引控制系统301、司控器302和制动控制系统303。其中，司控器302包括车头司控器3021和车尾司控器3022。
其中，所述牵引控制系统301用于：
检测当前紧急牵引信息是否满足进入紧急牵引模式的条件；
当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车300进入紧急牵引模式；
接收司控器302发送的硬线信号，并根据所述硬线信号的种类，执行相应的操作。
其中，所述制动控制系统303用于：
采集所述司控器302的紧急牵引硬线信号；
当所述紧急牵引硬线信号有效时，进入所述紧急牵引模式。
其中，所述司控器302包括车头司控器3021和车尾司控器3022，所述牵引控制系统301包括牵引逆变器，所述制动控制系统303包括制动控制器。
在本公开的一些实施例中，所述当前紧急牵引信息包括：紧急牵引硬线信号、电机的转速和司控器的硬线信号，所述牵引控制系统301检测当前紧急牵引信息是否满足进入紧急牵引模式的条件，具体用于：
在所述紧急牵引硬线信号有效时，调整所述电机，使所述电机的扭矩降为0；
在检测到所述电机的转速小于等于预设阈值，且所述司控器的硬线信号为非牵引硬线信号时，进入紧急牵引模式；
所述非牵引硬线信号包括制动硬线信号和惰行硬线信号中的至少一种。
在本公开的一些实施例中，所述司控器的硬线信号的种类包括：紧急牵引硬线信号、牵引硬线信号、钥匙硬线信号和方向硬线信号，所述牵引控制系统301根据所述硬线信号 的种类，执行相应的操作，具体用于：
在所述硬线信号为所述牵引硬线信号和所述紧急牵引硬线信号时，若所述牵引硬线信号和所述紧急牵引硬线信号均有效时，按照预设载荷和预设级位牵引所述列车；
当所述硬线信号包括所述钥匙硬线信号和所述方向硬线信号时，判断所述钥匙硬线信号是否来自于所述车头司控器；
如果是，则根据车头的朝向及所述方向硬线信号进行牵引；否则根据车尾的朝向及所述方向硬线信号进行牵引。
在本公开的一些实施例中，所述司控器的硬线信号的种类包括：紧急牵引硬线信号和制动硬线信号，所述制动控制系统303还用于：
当所述制动硬线信号和紧急牵引硬线信号均有效时，按照预设载荷和预设级位进行制动。
本公开实施例的列车，由于能够实现前述的列车进入紧急牵引模式的控制方法，因此具有和前述的方法相同的优点。
尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅仅是示例性的，并且不意图将本公开的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本公开的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本公开的范围之内。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本公开的范围。
在本公开所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个设备，或一些特征可以忽略，或不执行。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本公开的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本公开并帮助理解各个发明方面中的一个或多个，在对本公开的示例性实施例的描述中，本公开的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本公开的方法解释成反映如下意图：即所要求保护 的本公开要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本公开的单独实施例。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本公开的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本公开的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本公开实施例的一些模块的一些或者全部功能。本公开还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本公开的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本公开进行说明而不是对本公开进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本公开可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
以上所述，仅为本公开的具体实施方式或对具体实施方式的说明，本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本公开的保护范围之内。本公开的保护范围应以权利要求的保护范围为准。

Claims (20)

  1. 一种列车进入紧急牵引模式的控制方法，应用于列车的牵引控制系统，所述方法包括：
    检测当前紧急牵引信息是否满足进入紧急牵引模式的条件；
    当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式；
    接收司控器发送的硬线信号，并根据所述硬线信号的种类，执行相应的操作。
  2. 如权利要求1所述的方法，其中，所述当前紧急牵引信息包括：
    紧急牵引硬线信号；
    电机的转速；以及
    司控器的硬线信号。
  3. 如权利要求2所述的方法，其中，所述司控器的硬线信号包括：非牵引硬线信号，检测当前紧急牵引信息是否满足进入紧急牵引模式的条件，包括：
    检测所述紧急牵引硬线信号是否有效；
    当所述紧急牵引硬线信号有效时，调整所述电机，使所述电机的扭矩降为0；
    检测所述电机的转速是否小于等于预设阈值；
    当所述电机的转速小于等于预设阈值时，检测所述司控器的硬线信号是否为非牵引硬线信号，如果是，则满足进入紧急牵引模式的条件。
  4. 根据权利要求3所述的方法，其中，所述非牵引硬线信号包括制动硬线信号和惰行硬线信号中的至少一种。
  5. 如权利要求1所述的方法，其中，所述司控器的硬线信号的种类包括以下至少一种：紧急牵引硬线信号、钥匙硬线信号、方向硬线信号和牵引硬线信号。
  6. 如权利要求5所述的方法，其中，根据所述硬线信号的种类，执行相应的操作，包括：
    当所述硬线信号为所述牵引硬线信号和所述紧急牵引硬线信号时，若所述牵引硬线信号和所述紧急牵引硬线信号均有效时，按照预设载荷和预设级位牵引所述列车。
  7. 如权利要求5所述的方法，其中，所述司控器包括车头司控器和车尾司控器；
    根据所述硬线信号的种类，执行相应的操作，包括：
    当所述硬线信号包括所述钥匙硬线信号和所述方向硬线信号时，判断所述钥匙硬线信号是否来自于所述车头司控器；
    如果是，则根据车头的朝向及所述方向硬线信号进行牵引；否则根据车尾的朝向及所 述方向硬线信号进行牵引。
  8. 如权利要求1所述的方法，其中，所述牵引控制系统包括牵引逆变器。
  9. 一种列车进入紧急牵引模式的控制方法，其特征在于包括：
    检测当前紧急牵引信息是否满足进入紧急牵引模式的条件；
    当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式。
  10. 根据权利要求9所述的方法，其特征在于，所述当前紧急牵引信息包括：紧急牵引硬线信号，检测当前紧急牵引信息是否满足进入紧急牵引模式的条件，包括：
    在所述紧急牵引硬线信号有效时，控制制动控制系统进入所述紧急牵引模式；和/或，
    在所述紧急牵引硬线信号有效时，控制牵引控制系统进入所述紧急牵引模式。
  11. 根据权利要求10所述的方法，其特征在于，所述当前紧急牵引信息还包括：电机的转速和司控器的硬线信号，在控制所述牵引控制系统进入所述紧急牵引模式之前，所述方法还包括：
    在所述紧急牵引硬线信号有效时，调整所述电机，使所述电机的扭矩降为0；
    在检测到所述电机的转速小于等于预设阈值，且所述司控器的硬线信号为非牵引硬线信号时，控制所述牵引控制系统进入紧急牵引模式。
  12. 根据权利要求11所述的方法，其特征在于，所述非牵引硬线信号包括制动硬线信号和惰行硬线信号中的至少一种。
  13. 根据权利要求9-12中任一项所述的方法，其特征在于，在控制列车进入紧急牵引模式之后，所述方法还包括：
    接收司控器发送的硬线信号；
    根据所述硬线信号的种类，执行相应的操作。
  14. 根据权利要求13所述的方法，其特征在于，所述司控器的硬线信号的种类包括：紧急牵引硬线信号和牵引硬线信号，根据所述硬线信号的种类，执行相应的操作，包括：
    在所述硬线信号为所述牵引硬线信号和所述紧急牵引硬线信号时，若所述牵引硬线信号和所述紧急牵引硬线信号均有效时，控制所述牵引控制系统按照预设载荷和预设级位牵引所述列车。
  15. 根据权利要求13所述的方法，其特征在于，所述司控器的硬线信号的种类包括：钥匙硬线信号和方向硬线信号，根据所述硬线信号的种类，执行相应的操作，包括：
    当所述硬线信号包括所述钥匙硬线信号和所述方向硬线信号时，判断所述钥匙硬线信号是否来自于车头司控器；
    如果是，则控制所述牵引控制系统根据车头的朝向及所述方向硬线信号进行牵引；否 则控制所述牵引控制系统根据车尾的朝向及所述方向硬线信号进行牵引。
  16. 根据权利要求13所述的方法，其特征在于，所述司控器的硬线信号的种类包括：紧急牵引硬线信号和制动硬线信号，根据所述硬线信号的种类，执行相应的操作，包括：
    当所述制动硬线信号和紧急牵引硬线信号均有效时，控制所述制动控制系统按照预设载荷和预设级位进行制动。
  17. 一种列车，所述列车包括牵引控制系统、司控器和制动控制系统；
    其中，所述牵引控制系统用于：
    检测当前紧急牵引信息是否满足进入紧急牵引模式的条件；
    当所述当前紧急牵引信息满足进入紧急牵引模式的条件时，控制列车进入紧急牵引模式；
    接收司控器发送的硬线信号，并根据所述硬线信号的种类，执行相应的操作；
    其中，所述制动控制系统用于：
    采集所述司控器的紧急牵引硬线信号；
    当所述紧急牵引硬线信号有效时，进入所述紧急牵引模式；
    其中，所述司控器包括车头司控器和车尾司控器，所述牵引控制系统包括牵引逆变器，所述制动控制系统包括制动控制器。
  18. 根据权利要求17所述的列车，其特征在于，所述当前紧急牵引信息包括：紧急牵引硬线信号、电机的转速和司控器的硬线信号，所述牵引控制系统检测当前紧急牵引信息是否满足进入紧急牵引模式的条件，具体用于：
    在所述紧急牵引硬线信号有效时，调整所述电机，使所述电机的扭矩降为0；
    在检测到所述电机的转速小于等于预设阈值，且所述司控器的硬线信号为非牵引硬线信号时，进入紧急牵引模式；
    所述非牵引硬线信号包括制动硬线信号和惰行硬线信号中的至少一种。
  19. 根据权利要求17所述的列车，其特征在于，所述司控器的硬线信号的种类包括：紧急牵引硬线信号、牵引硬线信号、钥匙硬线信号和方向硬线信号，所述牵引控制系统根据所述硬线信号的种类，执行相应的操作，具体用于：
    在所述硬线信号为所述牵引硬线信号和所述紧急牵引硬线信号时，若所述牵引硬线信号和所述紧急牵引硬线信号均有效时，按照预设载荷和预设级位牵引所述列车；
    当所述硬线信号包括所述钥匙硬线信号和所述方向硬线信号时，判断所述钥匙硬线信号是否来自于所述车头司控器；
    如果是，则根据车头的朝向及所述方向硬线信号进行牵引；否则根据车尾的朝向及所述方向硬线信号进行牵引。
  20. 根据权利要求17所述的列车，其特征在于，所述司控器的硬线信号的种类包括：紧急牵引硬线信号和制动硬线信号，所述制动控制系统还用于：
    当所述制动硬线信号和紧急牵引硬线信号均有效时，按照预设载荷和预设级位进行制动。
PCT/CN2022/128202 2021-12-24 2022-10-28 列车进入紧急牵引模式的控制方法和列车 Ceased WO2023116195A1 (zh)

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