CN101497343A - Operation control method and operation control system of combined train - Google Patents
Operation control method and operation control system of combined train Download PDFInfo
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Abstract
The invention provides a method for controlling the operation of a combined train. The method comprises that: control equipment of a main control engineer acquires working condition information of the main control engineer in real time, generates a control instruction and provides the control instruction for control equipment of a slave control engineer; according to the control instruction of the main control engineer, the control equipment of the slave control engineer acquires the braking condition of the train to judge the braking state of the main control engineer and acquires working condition information of self-operation; and according to the working condition information, the control instruction and the operating state of the main control engineer and the working condition information of the slave control engineer, and the control equipment of the slave control engineer automatically generates a control mode to control the operating state. The invention also correspondingly provides a system for controlling the operation of the combined train; the system comprises control equipment arranged on the main control engineer and the slave control engineer; the control equipment comprises a control unit, engineer equipment connected with the control unit, a communication unit, a braking unit and a working condition information acquisition unit. The method can realize asynchronous collaborative operation of each engineer of the combined train.
Description
Technical field
The present invention relates to combined train multimachine car transportation technology field, be meant a kind of running of combined train control method and the operation control system that satisfies this method especially.
Background technology
In heavy haul transport regular meeting the problem of locomotive tractive effort deficiency takes place, need increase number of locomotives in train marshalling list, drawn simultaneously by two or many locomotives, it is defeated to be called the carrying of combined train multimachine car weight, and wherein the locomotive of Zeng Jiaing is called the slave controller car.Combined train has multiple organizational systems, in any case marshalling all must cooperatively interact between each locomotive, work in coordination with and control.At present, some countries and circuit adopt the Locotrol system of U.S. GE company.The Locotrol system is a kind of synchronous control system, and its function is to gather driver's handle position or the traction pressure regulator position and the brake state of head locomotive when train operation, and it is passed to the rear portion locomotive, makes it keep identical actuated position with the head locomotive.When asynchronous manipulation, then manually control for the driver, driver's handle position or traction pressure regulator position and brake state are not gathered by the Locotrol system, send the maneuverability pattern that requires the rear portion locomotive to carry out by the driver of head locomotive.Labour intensity and operant level to the driver require too high.
The zone of Locotrol system successful Application mainly be in the North America, South Africa and Australia, circuit is Plain and high-land, train operation state and circuit condition of service change slowly, the operational mode relative fixed, less demanding to the train dynamics characteristic, system's control real-time requires relatively low.
But, abominable for circuit, as build the bend and the bigger mountain route of slope change of the sub-district rate radius in mountain area in more, as China Qun Dynasty circuit, or the bigger circuit of operation density, relatively harsher to the operation space requirement, or frequent the employing when braking speed governing, the capital causes train operation state and condition of service often to change, if a plurality of locomotives of heavy haul transport train adopt synchro control, then can be owing to train head locomotive operating mode of living in is different with rear portion locomotive operating mode of living in, the synchronous control signal that causes the head locomotive to send is not suitable for the rear portion locomotive and has an accident.
Summary of the invention
In view of this, the operation control system that main purpose of the present invention is a kind of running of combined train control method is provided and satisfies this method is to realize the asynchronous cooperation operation to each locomotive.
Running of combined train control method provided by the invention comprises:
The control convenience of A, master control locomotive is gathered main control computer turner condition information in real time and is generated the control convenience that control command offers the slave controller car;
The control convenience of B, slave controller car is gathered the train braking situation in real time to judge master control locomotive running state and slave controller car self work information;
The control convenience of C, slave controller car is according to described main control computer turner condition information, control command, running state, and slave controller car self work information is controlled its running state.
One of below wherein, the described work information of steps A comprises at least: the operation information that the track circuit information that the master control locomotive obtains, location information, the locomotive information that sensor detected on the locomotive, speed information, the driver that dot-mode transponder provides do the traction and the braking of locomotive.
Wherein, the described master control locomotive running state of step B comprises: braking, excision power, alleviation and train braking system pressurize value.
Wherein, the described slave controller car of step C self work information comprises: the position of described slave controller parking stall in described combined train, combined train length, tonnage rating, combined train organizational systems, the line information of this slave controller car current location, the current running state of this slave controller car.
Wherein, step C comprises substep: the control convenience of slave controller car is according to described main control computer turner condition information, running state, and slave controller car self work information calculates the car controlling mode that this slave controller car should adopt; Running state according to the information Control slave controller car that calculates.
Wherein, further comprise behind the step C: gather slave controller turner condition information and running state in real time and offer the master control locomotive; The running state that the master control locomotive is adjusted train according to the work information and the running state of slave controller car is sent new control command.
The running of combined train control system that satisfies this control method provided by the invention comprises the control convenience that is arranged on master control locomotive and the slave controller car; Wherein, described control convenience comprises: control unit, the locomotive equipment that links to each other with control unit, communication unit and brake unit, work information collecting unit, wherein:
The brake unit of described each locomotive connects by train brake pipe, is used for braking, excision power, alleviation and train braking system pressurize value that slave controller car control unit obtains master control locomotive brake unit;
Communication unit is used for transmission control command and work information between the control convenience of master control locomotive and slave controller car;
The work information collecting unit is used to gather the work information of locomotive;
Control unit is used for the execution of other each unit is controlled, and generates control command.
Optionally, described working condition acquiring unit comprises one of following at least: track circuit receiving element, dot-mode transponder information receiving unit, train conditions sensory information processing unit, velocity information collecting unit.
Wherein, described communication unit comprise following one of at least: data radio station, GSM-R receive and sending module.
Optionally, also comprise record cell, link to each other, be used for work information and running state that the real time recording control unit is gathered with control unit.
Optionally, also comprise the man machine interface unit, link to each other, be used to provide the input of train data and other relevant operating datas and provide necessary system running state to show information to driver and system maintenance personnel with control unit.
Optionally, also be provided with locomotive state controlling and driving and acquisition system, be used for control unit to the control of locomotive equipment with to the collection of the work information of locomotive equipment circuit.
As seen from the above, the present invention can realize the asynchronous co-operative control of each locomotive that the carrying of combined train multimachine car weight is defeated, both conditional state and the line condition of living in according to self of the locomotive of each towing point controlled to restraining oneself with limited dispersion the operation of self under train operation synchronous condition, to reduce the longitudinal impulse of train, revise the dynamics of train, satisfy the mechanical specialities of locomotive and vehicle, guarantee driving safety.It is abominable that the present invention is particularly useful for circuit, as build the bend and the bigger mountain route of slope change of the sub-district rate radius in mountain area in more, or the bigger circuit of operation density.
Description of drawings
Fig. 1 is a running of combined train control system scheme drawing;
Fig. 2 is the schematic diagram of main control computer vehicle control;
Fig. 3 is the diagram of circuit of running of combined train control method;
Fig. 4 is a combined train control scheme drawing under the gradient operating mode;
Fig. 5 is combined train control scheme drawing under the braking;
Fig. 6 is the control of the combined train under dot-mode transponder scheme drawing.
The specific embodiment
The collecting and distributing control technology of disperseing self-discipline has been adopted in running of combined train control of the present invention, and its groundwork is: the main control computer vehicle device is responsible for gathering driver control and locomotive operating mode, sends to the slave controller vehicle device of back then; The slave controller vehicle device is by train brake pipe perception main control computer car team car braking information, and the information of current operating mode of the information, the slave controller car that send in conjunction with the main control computer vehicle device that has received and field location of living in utilizes conditional dispersion self-discipline principle to determine that self corresponding action is to cooperate the master control locomotive.And the slave controller car also feeds back to the main control computer vehicle device with its action message, so that by the monitoring of main control computer vehicle device and the adjustment of necessity.
Fig. 1 shows running of combined train control system of the present invention, as shown in Figure 1, is provided with control convenience on the master control locomotive of running of combined train control system of the present invention and the slave controller car.Each control convenience comprises control unit 11, the locomotive equipment 12 that links to each other with control unit 11, work information collecting unit 13, communication unit 14 and brake unit 15, and the brake unit 15 of each locomotive is connected by train brake pipe.
Fig. 2 shows the schematic diagram of main control computer vehicle control, with reference to this figure the control convenience on the locomotive is further described:
Work information collecting unit 13 is used for the work information of current locomotive is gathered, the work information here mainly refers to the information that current each detector of locomotive is obtained, and these information comprise information such as track-circuit signalling, location information, train information that the train sensor detected, the speed of a motor vehicle.This work information collecting unit 13 can comprise with lower unit:
The track circuit receiving element 131 that comprises induction coil, the mode by induction receives the condition information of track in real time; The point information receiving element 132 that comprises dot-mode transponder is determined the locomotive current position information by the point type projector that is provided with on the matching track; Train information detecting unit 133 comprises the some sensors that are arranged on the train different parts, is used to detect each situation of train different parts; Velocity information collecting unit 134 for example is the pulsed speed sensor, gathers the current running velocity of locomotive to detect.
Specifically, the operation of the locomotive equipment 12 of the work informations control master control locomotive that the control unit 11 of master control locomotive is mainly gathered according to work information collecting unit 13 and the action of brake unit 15, and the work information of its master control locomotive of gathering and the control command that is generated sent to each slave controller car by communication unit 14.The control convenience of each slave controller car is according to the braking information of the main control computer turner condition information that receives by communication unit 14, control command and the master control locomotive by brake unit 15 perception, goes to control the operation of its locomotive equipment 12 in conjunction with himself work information.
Wherein, control unit 11 can be realized the control of 11 pairs of locomotive equipments 12 of control unit and to the collection of the work information of locomotive equipment 12 circuit by locomotive state controlling and driving and acquisition system when the action of the operation of the locomotive equipment 12 of control master control locomotive and brake unit 15.Locomotive state controlling and driving and acquisition system are the I/O controllers, except logic and the mathematical computations function that possesses conventional I/O controller, incoming signal are scanned and drive field control element, digital communication functions by certain logic.Carry out the control and the sampling section of whole interlock system by locomotive state controlling and driving and acquisition system, directly with controlled object--locomotive is relevant.
The brake unit 15 of master control locomotive and each slave controller car links to each other by train brake pipe, and like this, the train brake pipe that passes through that each slave controller car just can be real-time is known state of kinematic motions such as the braking of master control locomotive brake unit 15, alleviation, pressurize.Wherein, brake unit 15 can adopt air damper, as model is the air damper of DK1 or JZ7, pressure sensor is housed in the brake, be used to detect the variation of train brake pipe internal pressure and velocity of wave, follow the tracks of locomotive decompression amount to realize that the slave controller car can in time detect, be convenient to actv. and cooperate the master control locomotive to brake.
Control convenience can also comprise record cell and man machine interface unit, links to each other with control unit 11, and record cell is used for work information and the running state that record control unit 11 is gathered, and the man machine interface unit is used to provide man machine communication, is convenient to user's control.
By above-mentioned running of combined train control system, can realize the collaborative manipulation of each locomotive, make the slave controller car determine its operation according to work information, running state and the work information own of master control locomotive, guarantee the smooth running of permutation car.Referring to the diagram of circuit of the control method shown in Fig. 3, the implementation method that running of combined train of the present invention is controlled is elaborated, and may further comprise the steps:
Step 31: the control convenience of master control locomotive is gathered main control computer turner condition information in real time, generates control command is transferred to the instruction of work information and generation the slave controller car by communication unit 14 control convenience.
Wherein, can gather work information by the work information collecting unit 13 of master control locomotive.For example, can pass through the condition information of the real-time acquisition trajectory of mode of induction; Gather the locomotive current position information by the point type projector that is provided with on the dot-mode transponder matching track; By being arranged on the condition information of the some sensor acquisition train different parts on the train different parts; Gather the current running velocity of locomotive etc. by the pulsed speed sensor.
Step 32: the control convenience of slave controller car is gathered master control locomotive brake situation and is judged master control locomotive present located running state, as braking, alleviation, packing state.
Wherein, each locomotive brake unit 15 links to each other by train brake pipe, therefore the brake unit 15 of control convenience can be real-time passes through the braking mode that train brake pipe collects master control locomotive and locomotive, specifically, the pressure sensor in the brake unit 15 detects the locomotive decompression amount of following the tracks of by the variation that detects train brake pipe internal pressure and velocity of wave.
Step 33: the control convenience of slave controller car is according to described main control computer turner condition information, control command, running state, and slave controller car self work information calculates the car controlling mode that this slave controller car should adopt; Then, according to the running state of the information Control slave controller car that calculates.
Wherein, the work information identical content of slave controller car described herein self work information except detecting with main frame, outside slave controller car current location information, track circuit information, also comprise position, the combined train length of slave controller parking stall in described combined train, whether this locomotive load (cargo weight) information such as fault.Controlling the slave controller car about specifically how going in this step, will be described with embodiment later.
Step 34: gather slave controller turner condition information and running state in real time and offer the master control locomotive by communication unit 14; The master control locomotive is adjusted its running state according to the work information and the running state of slave controller car.
Wherein, the slave controller car can repeat no more referring to above-mentioned steps the collection of work information and running state herein.This step feeds back to the master control locomotive with the work information and the running state of slave controller car, is the mode that adopts closed loop control, makes the master control locomotive understand the service condition of full train, to carry out the correction of subsequent operation.Wherein, in order to make the transmit leg of master control locomotive identification feedback information, can in feedback information, add the beacon information of transmit leg locomotive.
With combined train control scheme drawing under the gradient operating mode shown in Fig. 4, the step of controlling the slave controller car in the step 33 is described below:
For the heavy haul train of multi locomotive traction, because the restriction of the geographical conditions of length of himself and circuit, train can be in the fluctuating highway section or do the curve operation.When moving on the circuit of train in different gradient, in order to guarantee the normal operation of train, each locomotive need be in that different to handle the each several part that just can make train of working under the operating modes stressed evenly, need be according to different locomotives place different terrain conditions, require the principle of the conditional dispersion self-discipline of employing the different locomotive control method of locomotive employing of each towing point to be controlled the operating mode of master control locomotive and controlled locomotive respectively according to train dynamics, comprise: after the slave controller car receives control command, according to command content (as slowing down, quicken, braking, start), the running section at train place, this locomotive concerns and train length with the position of adjacent locomotives, calculate in this case the spacious transmission of motion speed of train pine, and the optimal control opportunity that calculates this locomotive is (as slowing down, quicken, braking, start the opportunity postponed) and the car controlling mode remove to control this locomotive.The benefit of analyzing such control from Fig. 4 is: owing to the influence of coupler slack, the locomotive that is positioned at the middle part towing point also bears the squeese pressure of front body simultaneously except that the tensile force that bears the train rear body when launch train; And when the coupler slack of anterior train all draws back, locomotive will only bear the tensile force (being tractive force) of rear portion train.Therefore the locomotive that is positioned at each towing point of back when starting front locomotive a period of time that will lag behind is successively taked measure of control again, helps eliminating the loose spacious motion of train, simultaneously the physical construction of locomotive and vehicle is protected.
Be example with combined train control scheme drawing under Fig. 5 damped condition more below, the step of controlling the slave controller car in the step 33 is described.
Train is at glancing impact, because the influence of train length, braking propagation rate reaches the middle part locomotive by the train front portion and needs certain hour, the inertia of the car body dependence that do not reach of braking propagation rate during this period of time itself produces thrust to front locomotive and the car body of having braked in the compression coupler slack, this moment, the middle part locomotive was not if implement brake measure, then since locomotive quality much larger than car body, with make the middle part locomotive the reduction of speed process longer than front and back car body; The thrust that produces is also big than car body, produces before and after the locomotive of middle part and collides and drag interaction, and oscillation number is 2～3 cycles, and locomotive and car body are caused damage prolongs the braking time of full train simultaneously.When train braking, should control the middle part locomotive and before braking propagation rate is passed to the middle part locomotive, implement braking during the 10th～20 car body, when middle part locomotive brake process was finished, the train braking velocity of wave just transmitted rearward by the middle part locomotive.Eliminated the differential and the integrating effect of locomotive, made the brake action of locomotive consistent with train.The train braking performance is improved,, the train braking distance is shortened greatly, improved traveling security and reliability simultaneously because the transmittance process of braking propagation rate has been accelerated in the effect of middle part locomotive.Can be by pressure sensor is housed in the brake, detect the variation of decompression amount, when the driver brakes, after main control computer vehicle device 12 detects braking instruction is sent to the slave controller car, the slave controller car is according to given decompression amount, adopt closed loop control, assurance rear portion train is in time followed the tracks of anterior train decompression amount.
Same, in the alleviation process for the decompressing and speed-regulating after the braking, also should control the alleviation opportunity of middle part locomotive, implement to alleviate before making the middle part locomotive forwardly the coupler slack that compresses because of braking of train not being fully withdrawn, the drawing process that train is alleviated is realized seamlessly transitting before and after the locomotive of middle part.Assist to fill wind simultaneously, quicken the alleviation of latter half of train; Shorten the rise time of train braking pipe pressure, brake again for train and prepare.
At last,, realize that the automatic phase-splitting function excessively of combined train control process is an example, control method of the present invention be illustrated again with the locating information of utilizing dot-mode transponder to provide shown in Fig. 6:
In this example, before phase-splitting insulation in certain distance, lay three dot-mode transponders, when each locomotive passes through first dot-mode transponder, its control convenience detects responser information and then begins computed range, when by second dot-mode transponder the time, then begins the verification of computed range, when by the 3rd dot-mode transponder the time, operate automatically and pass through phase-splitting insulation.Specify the crew-served situation of each locomotive below:
Judge that when the master control locomotive its work information for by phase-splitting insulation the time, according to position, distance and the control convenience calculated distance of dot-mode transponder, only excises the power of master control locomotive, make master control locomotive dependence inertia motion, steadily pass through phase-splitting insulation; And other slave controller cars are still dynamic.
Judging its work information when the slave controller car is when passing through phase-splitting insulation, also according to position, distance and the control convenience calculated distance of dot-mode transponder, only excise the power of slave controller car self, and other slave controller cars and master control locomotive to be still dynamic.
This just makes at synchronization to have only a locomotive excision power, and is less to the influence on system operation of whole train.Passed through phase-splitting insulation as long as work as locomotive self simultaneously, just can recover power, reduced it greatly and relied on distance of train self inertia motion, also very little to the speed influence of train operation.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. running of combined train control method comprises:
The control convenience of A, master control locomotive is gathered main control computer turner condition information in real time and is generated the control convenience that control command offers the slave controller car;
The control convenience of B, slave controller car is gathered the train braking situation in real time to judge master control locomotive running state and slave controller car self work information;
The control convenience of C, slave controller car is according to described main control computer turner condition information, control command, running state, and slave controller car self work information is controlled its running state.
One of 2. method according to claim 1 is characterized in that, below the described work information of steps A comprises at least:
The track circuit information that the master control locomotive obtains, the location information that dot-mode transponder provides, the locomotive information that sensor detected on the locomotive, speed information, the operation information that the traction and the braking of locomotive are done.
3. method according to claim 1 is characterized in that, the described master control locomotive running state of step B comprises: braking, excision power, alleviation and train braking system pressurize value.
One of 4. according to claim 1,2 or 3 described methods, it is characterized in that, below the described slave controller car of step C self work information comprises at least:
The position of described slave controller parking stall in described combined train, combined train length, tonnage rating, combined train organizational systems, the line information of this slave controller car current location, the current running state of this slave controller car.
5. method according to claim 4 is characterized in that step C comprises substep:
The control convenience of slave controller car is according to described main control computer turner condition information, running state, and slave controller car self work information calculates the car controlling mode that this slave controller car should adopt;
Control the running state of slave controller car according to the result who calculates.
6. method according to claim 1 is characterized in that, further comprises behind the step C: gather slave controller turner condition information and running state in real time and offer the master control locomotive;
The running state that the master control locomotive is adjusted train according to the work information and the running state of slave controller car is sent new control command.
7. a running of combined train control system that satisfies this control method comprises the control convenience that is arranged on master control locomotive and the slave controller car; Wherein, described control convenience comprises: control unit (11), the communication unit (14) that links to each other with control unit (11) and brake unit (15), work information collecting unit (13), wherein:
The brake unit of described each locomotive (15) connects by train brake pipe, is used for braking, excision power, alleviation and train braking system pressurize value that slave controller car control unit (11) obtains master control locomotive brake unit (15);
Communication unit (14) is used for transmission control command and work information between the control convenience of master control locomotive and slave controller car;
Work information collecting unit (13) is used for the work information of harvester vehicle device (12);
Control unit (11) is used for the execution of other each unit is controlled, and generates control command.
One of 8. system according to claim 7 is characterized in that, below described work information collecting unit (13) comprises at least:
Track circuit receiving element (131), dot-mode transponder information receiving unit (132), train conditions sensory information processing unit (133), velocity information collecting unit (134).
9. system according to claim 7 is characterized in that, described communication unit (14) comprise following one of at least: data radio station (141), GSM-R receive and sending module (142).
10. system according to claim 7 is characterized in that, also comprises record cell, links to each other with control unit (11), is used for work information and/or running state that real time recording control unit (11) obtains.
11., it is characterized in that according to claim 7 or 10 described systems, also comprise the man machine interface unit, link to each other with control unit (11), be used to provide the input of train data, operating data and system running state to show information.
12. system according to claim 11 is characterized in that, also is provided with locomotive state controlling and driving and acquisition system, is used for control unit (11) to the control of locomotive equipment (12) with to the collection of the work information of locomotive equipment (12) circuit.
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| CN105873123A (en) * | 2016-03-21 | 2016-08-17 | 卡斯柯信号有限公司 | Detecting method of GSM-R wireless message delay of interurban railway |
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| CN1077688A (en) * | 1992-04-19 | 1993-10-27 | 朱金泉 | Synchronously combined train |
| CN1817710B (en) * | 2005-02-07 | 2012-10-24 | 傅庆斌 | Method and system for controlling vehicle track running |
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