CN109532951B - Rail train head-to-tail redundant speed and distance measuring system and method - Google Patents
Rail train head-to-tail redundant speed and distance measuring system and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0081—On-board diagnosis or maintenance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
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Abstract
The invention provides a head and tail redundant speed and distance measuring system and a method for a rail train, wherein the system comprises the following components: the head end and the tail end of the train are respectively provided with a set of independent speed and distance measuring system; each speed and distance measuring system comprises M main sensors and N auxiliary sensors for speed and distance measurement, wherein M is more than or equal to 1, N is more than or equal to 0, and M + N is more than or equal to 2; each set of speed and distance measuring system also comprises a speed and distance measuring processing unit which is used for processing the measuring data of the sensor and outputting the information of the speed and distance measuring result; the measurement information of the sensors at the head and the tail of the train is shared between the two speed and distance measuring systems through the communication device; the speed and distance measuring processing unit at least selects X sensors which normally run from the sensors of the speed and distance measuring systems at two ends as measuring data sources to process, and at least Y sensors in the X sensors are main sensors. The system realizes safe redundant positioning of the head and the tail of the train and improves the reliability of automatic operation of the train.
Description
Technical Field
The invention belongs to the field of rail transit, and particularly relates to a head-tail redundant speed and distance measuring system and method for a rail train.
Background
Along with the development of the rail transit industry, the train automatic driving system becomes the mainstream of the rail transit industry, the train safety control is the key of the train automatic driving, and the train safety control depends on a train speed and distance measuring system which runs steadily and is positioned accurately.
In the prior art, accurate positioning is generally realized by adopting a data fusion mode of multiple types of sensors. The safe redundant positioning strategy of the head-tail redundant speed and distance measuring system is provided in the prior art, the processing mode is that one set of speed and distance measuring system is respectively installed at two ends of a train, when the train runs, the head end only uses the speed and distance measuring system at the home end to position, the tail end speed and distance measuring system is in a dormant state, if the head end speed and distance measuring sensor fails, the head end is switched to the tail end to carry out speed and distance measurement, and if the tail end sensor also fails, the speed and distance measuring fails. The speed and distance measuring system with independent redundancy from head to tail cannot fully utilize the information of the sensors at two ends, and is easy to fail due to single-point faults of the sensors at two ends, thereby influencing the usability of the train speed and distance measuring system and the control system to a certain extent.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a head-tail redundant speed and distance measuring system and a head-tail redundant speed and distance measuring method based on fusion of multiple sensors and sharing of head-tail sensors.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model provides a redundant speed measuring and ranging system of rail train head and tail, specifically does:
the head end and the tail end of the train are respectively provided with a set of independent speed and distance measuring system;
each speed and distance measuring system comprises M main sensors and N auxiliary sensors for speed and distance measurement, wherein M is more than or equal to 1, N is more than or equal to 0, and M + N is more than or equal to 2;
each set of speed and distance measuring system also comprises a speed and distance measuring processing unit which is used for processing the measuring data of the sensor and outputting the information of the speed and distance measuring result;
the speed and distance measuring systems at the two ends are connected through a communication device, and the measuring information of the sensors at the head and the tail ends of the train is shared between the two speed and distance measuring systems through the communication device;
the redundancy switching control module is used for controlling according to the following preset rules: the speed and distance measuring processing unit at least selects X sensors which normally run from the sensors of the speed and distance measuring systems at two ends as measuring data sources to process, at least Y sensors in the X sensors are main sensors, wherein Y is more than or equal to X and less than or equal to M + N; and the system is also used for selecting one of the speed and distance measuring systems at the two ends as the speed and distance measuring system for controlling the train operation.
Further, Y is more than or equal to 1, and X is more than or equal to 2.
Further, in the above-mentioned case,
the main sensor is a wheel axle rotating speed sensor;
the auxiliary sensor is one or more of a Doppler radar sensor, an accelerometer sensor and a satellite positioning sensor.
Further, in the above-mentioned case,
the speed and distance measuring processing unit is used for processing the measurement data of the sensor and outputting speed and distance measuring result information, and specifically comprises the following steps:
the speed and distance measuring processing unit performs data calculation, fusion and recording of the sensor state according to the sensor protocol, and outputs the fused speed, acceleration, position and sensor state information.
The predetermined rule is further:
if the vehicle head speed and distance measuring system has at least X sensors which normally work, and at least Y sensors are main sensors, then:
the speed and distance measuring system of the locomotive selects all or part of the sensor information which effectively operates on the locomotive to process and outputs a speed and distance measuring result;
the train head speed and distance measuring system is used as a speed and distance measuring system for train operation control;
the vehicle tail speed and distance measuring system is in an idle redundant state;
after the train is started, the train head speed and distance measuring system is selected by default to control the train.
The predetermined rule is further:
if the locomotive tests the speed ranging system trouble, the rear of a vehicle tests the speed ranging system and has at least X sensor normally works, and wherein at least Y is the main sensor, then:
the vehicle tail speed and distance measuring system selects all or part of the effectively running sensor information of the vehicle tail to process and outputs a speed and distance measuring result;
and switching to the train tail speed and distance measuring system to be used as a speed and distance measuring system for train operation control.
The predetermined rule is further:
if the speed and distance measuring systems at the two ends of the train have faults, but the combination of the sensors at the two ends can meet the condition that at least X sensors which effectively operate and at least Y sensors are main sensors, then:
the speed and distance measuring system of the locomotive selects all or part of effectively operating sensor information in the speed and distance measuring at two ends to process and outputs speed and distance measuring results;
the train is provided with a train head speed and distance measuring system as a speed and distance measuring system used for train operation control.
Further, the predetermined rule further includes:
if the speed measuring and distance measuring system at both ends of the train breaks down, and the condition that at least two sensors which effectively operate exist and one of the sensors is a main sensor cannot be met, then:
and judging that the train speed and distance measurement is invalid.
Further, the system also comprises a redundancy detection module, wherein the redundancy detection module is used for detecting the head and tail redundancy functions of the speed and distance measuring system before the train is delivered out of the warehouse.
Further, the detection of the head-to-tail redundancy function of the speed and distance measuring system comprises one or more of the following checking steps:
detecting whether the speed and distance measuring processing units of the speed and distance measuring systems at the two ends can work normally or not;
detecting whether each sensor of the speed and distance measuring system can work normally;
detecting whether the communication device can be effectively connected with speed and distance measuring systems at two ends;
simulating faults of part of sensors in the sensors of the speed and distance measuring systems at two ends for multiple times, and detecting whether a redundancy control module executes a redundancy switching function according to a preset rule; the multiple times of simulation are carried out, and different sensors are selected as simulated fault sensors each time; the multiple simulations test the redundant control functions of the redundant control modules by selecting different combinations of sensor coverage or partial coverage each time.
Further, the following rules are followed by selecting one of the speed and distance measuring systems at the two ends as the speed and distance measuring system for train operation control:
in the running process of the train, when the main sensor slips in an idling mode, the speed and distance measuring system does not select and switch the head and tail speed and distance measuring system.
Furthermore, when the train speed and distance measuring system fails and can still be controlled by the redundancy switching control module to realize the control of the train head or the train tail, the train is allowed to run to the garage according to the head-tail redundancy state.
Further, switch to rear of a vehicle speed measuring and ranging system and as controlling train with the distance measuring and ranging system that tests speed still includes:
in the running process, if the train head speed and distance measuring system is recovered from a fault, the train control end does not need to switch back to the train head speed and distance measuring system.
Further, one of the speed and distance measuring systems at the two ends is selected as the speed and distance measuring system for controlling the train operation, and the method further comprises the following steps:
in the process of selecting the speed and distance measuring system, if the speed and distance measuring system at the train control end is switched, the measuring result of the speed and distance measuring system is allowed to jump within the preset time.
A rail train head-to-tail redundant speed and distance measuring method comprises the following steps:
the speed and distance measuring systems at the two ends of the train are connected through a communication device, so that the measurement information of the sensors at the head end and the tail end of the train is shared between the two speed and distance measuring systems;
selecting at least X sensors which normally run from speed and distance measuring systems at two ends of a train as measurement data sources according to a preset rule for processing, wherein at least Y sensors in the X sensors are main sensors;
processing the selected sensor measurement data and outputting speed and distance measurement result information;
and selecting one of the speed and distance measuring systems at the two ends as the speed and distance measuring system for controlling the train operation according to the preset rule.
Further, Y is more than or equal to 1, and X is more than or equal to 2.
Further, in the above-mentioned case,
the main sensor is a wheel axle rotating speed sensor;
the auxiliary sensor is one or more of a Doppler radar sensor, an accelerometer sensor and a satellite positioning sensor.
Further, in the above-mentioned case,
the processing of the selected sensor measurement data and the outputting of the speed and distance measurement result information are specifically as follows:
and calculating and fusing data according to the sensor protocol, recording the state of the sensor, and outputting the fused speed, acceleration, position and sensor state information.
The predetermined rule is further:
if the vehicle head speed and distance measuring system has at least X sensors which normally work, and at least Y sensors are main sensors, then:
the speed and distance measuring system of the locomotive selects all or part of the sensor information which effectively operates on the locomotive to process and outputs a speed and distance measuring result;
the train head speed and distance measuring system is used as a speed and distance measuring system for train operation control;
the vehicle tail speed and distance measuring system is in an idle redundant state;
after the train is started, the train head speed and distance measuring system is selected by default to control the train.
The predetermined rule is further:
if the locomotive tests the speed ranging system trouble, the rear of a vehicle tests the speed ranging system and has at least X sensor normally works, and wherein at least Y is the main sensor, then:
the vehicle tail speed and distance measuring system selects all or part of the effectively running sensor information of the vehicle tail to process and outputs a speed and distance measuring result;
and switching to the train tail speed and distance measuring system to be used as a speed and distance measuring system for train operation control.
The predetermined rule is further:
if the speed and distance measuring systems at the two ends of the train have faults, but the combination of the sensors at the two ends can meet the condition that at least X sensors which effectively operate and at least Y sensors are main sensors, then:
the speed and distance measuring system of the locomotive selects all or part of effectively operating sensor information in the speed and distance measuring at two ends to process and outputs speed and distance measuring results;
the train is provided with a train head speed and distance measuring system as a speed and distance measuring system used for train operation control.
Further, the predetermined rule further includes:
if the speed measuring and distance measuring system at both ends of the train breaks down, and the condition that at least two sensors which effectively operate exist and one of the sensors is a main sensor cannot be met, then:
and judging that the train speed and distance measurement is invalid.
Further, the method further comprises detecting the speed and distance measuring system, wherein the detecting comprises one or more of the following steps:
detecting whether each sensor of the speed and distance measuring system can work normally;
detecting whether the speed and distance measuring systems at the two ends can carry out effective communication;
detecting whether the speed and distance measuring system can perform calculation processing on the selected sensor data or not, and outputting a calculation result;
simulating faults of part of sensors in the speed and distance measuring systems at the two ends for multiple times, and detecting whether the speed and distance measuring systems execute a redundant switching function according to a preset rule; the multiple times of simulation are carried out, and different sensors are selected as simulated fault sensors each time; and the multiple times of simulation are carried out, and whether the operation of the speed and distance measuring system meets the preset rule is tested by selecting the sensors with different combinations each time.
Further, the following rules are followed by selecting one of the speed and distance measuring systems at the two ends as the speed and distance measuring system for train operation control:
in the running process of the train, when the main sensor slips in an idling mode, the speed and distance measuring system does not select and switch the head and tail speed and distance measuring system.
Furthermore, when the train speed and distance measuring system fails and can still be controlled by the redundancy switching control module to realize the control of the train head or the train tail, the train is allowed to run to the garage according to the head-tail redundancy state.
Further, switch to rear of a vehicle speed measuring and ranging system and as controlling train with the distance measuring and ranging system that tests speed still includes:
in the running process, if the train head speed and distance measuring system is recovered from a fault, the train control end does not need to switch back to the train head speed and distance measuring system.
Further, one of the speed and distance measuring systems at the two ends is selected as the speed and distance measuring system for controlling the train operation, and the method further comprises the following steps:
in the process of selecting the speed and distance measuring system, if the speed and distance measuring system at the train control end is switched, the measuring result of the speed and distance measuring system is allowed to jump within the preset time.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail embodiments of the present invention with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. The drawings are not to be considered as drawn to scale unless explicitly indicated. In the drawings, like reference numbers generally represent the same component or step. In the drawings:
fig. 1 shows a schematic diagram of a head-to-tail redundant speed and distance measuring system architecture of a rail train;
fig. 2 shows a logic diagram of a speed and distance measuring function;
fig. 3 shows a speed and distance measurement redundancy control flow chart in the train operation process.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments described herein without inventive step, are intended to be within the scope of the present invention.
Fig. 1 is a schematic diagram of a head-to-tail redundant speed and distance measuring system architecture of a rail train. The train head and tail redundant speed and distance measuring system is characterized in that a set of speed and distance measuring system is respectively arranged at the head end and the tail end of a train, and the two sets of speed and distance measuring systems are connected with digital signals through communication buses; each speed and distance measuring system has the same structure and function, can independently operate, realizes speed and distance measurement, and can realize information interaction through a communication bus, thereby realizing cooperative work and switching head and tail systems to control trains.
The structure and the working principle of a set of speed and distance measuring system are described in detail as follows:
the speed and distance measuring system comprises a plurality of sensors, a speed and distance measuring processing unit and a redundant switching control module; the sensors comprise M main sensors and N auxiliary sensors, wherein M is more than or equal to 1, N is more than or equal to 0, and M + N is more than or equal to 2;
each set of speed and distance measuring system also comprises a speed and distance measuring processing unit which is used for processing the measuring data of the sensor and outputting the information of the speed and distance measuring result; the main sensor is a wheel axle rotating speed sensor; the auxiliary sensor is one or more of a doppler radar sensor, an accelerometer sensor, a satellite positioning sensor. The main sensor has high precision, but is easily influenced by idle slipping, the auxiliary sensor has slightly low precision, but is irrelevant to wheels and cannot be influenced by the idle slipping, and therefore, the speed and distance measuring mode combining the main sensor and the auxiliary sensor is adopted, and the testing precision and the stability can be improved.
In this embodiment, every system that tests the speed and range adopts 2 shaft revolution speed sensor and 2 doppler radar sensors as fusing the sensor that tests the speed and range, and the requirement of the safe redundant operation of system that tests the speed and range includes: there are at least two sensors that are active and contain at least one primary sensor. In practical application, various sensor combinations are reasonably selected according to factors such as train running environment, stability requirements of speed measurement and distance measurement, economic conditions and the like.
And the speed and distance measuring processing unit is used for processing the measured data of the sensor and outputting the information of the speed and distance measuring result. As shown in fig. 2, the plurality of sensors transmit measured data to the speed and distance measuring processing unit through the interface layer, the interface layer is a unit for receiving and converting data in the train automatic control system, and in this embodiment, the interface layer is mainly used for receiving raw data of the sensors and outputting the sensor data to the speed and distance measuring unit according to a calculation protocol of the speed and distance measuring system. The speed and distance measuring processing unit performs data calculation and fusion according to a sensor protocol, records the state of the sensor, and outputs the fused speed, acceleration, position and sensor state information.
As shown in fig. 2, the two speed and distance measuring systems are connected to the digital signal through a communication bus, including providing an information interaction channel for the two speed and distance measuring processing units, and the speed and distance measuring processing unit of each system sends the output speed and distance measuring result and the sensor state to the speed and distance measuring processing unit of the opposite end, so as to implement sensor data sharing.
The redundant switching control module of the speed and distance measuring system is used for controlling according to a preset rule, and the normal operation of the train under the condition that a hardware environment meets a preset condition (namely a safe redundant state) is ensured. The control includes:
controlling a speed and distance measuring processing unit to at least select X sensors which normally run from sensors of a speed and distance measuring system at two ends as measurement data sources for processing, wherein at least Y sensors in the X sensors are main sensors, X is more than or equal to Y and less than or equal to M + N, M is more than or equal to 1, N is more than or equal to 0, and M + N is more than or equal to 2; in the embodiment, at least two sensors are selected, namely X is more than or equal to 2, at least one of the sensors is a main sensor used as a sensor for measuring speed and distance, namely Y is more than or equal to 1, the specific main sensor is a wheel axle rotating speed sensor, and the auxiliary sensor is a Doppler radar sensor;
one of the speed and distance measuring systems at two ends is selected as a train control system.
The selection rule for selecting the source sensor and the speed and distance measuring system at one end specifically comprises:
(1) if at least two sensors of the speed and distance measuring system of the train head work normally and at least one main sensor is arranged, the speed and distance measuring system of the train head controls the train;
(2) if the speed and distance measuring system at the train head fails, the speed and distance measuring system at the train tail at least has two sensors working normally and at least has one main sensor, and the speed and distance measuring system at the train tail controls the train;
(3) if the speed and distance measuring systems at the two ends of the train are failed and the normal running conditions of the speed and distance measuring systems are met after the sensors at the two ends are combined, fusing the data of the speed and distance measuring systems at the two ends and controlling the train by the train head;
(4) and if the speed and distance measuring systems at the two ends of the train do not meet the above 3 switching rules, the speed measurement of the train is invalid.
In order to more intuitively clarify the redundancy switching method, the rules are quantized and represented in the following table:
TABLE 1 head-to-tail redundancy switching rules
Wherein T represents a main sensor, R represents an auxiliary sensor, where 1< M > is equal to or less than M, 0< N > is equal to or less than N, M is the number of main sensors of the speed and distance measuring system in this embodiment, and N is the number of auxiliary sensors of the speed and distance measuring system in this embodiment.
The following exemplary table contents are explained:
as shown in the table, row 2, column 2: the head end is mT0R, which indicates that m main sensors and 0 auxiliary sensors which effectively operate exist in the train head end speed and distance measuring system; the tail end is mT0R, which indicates that m main sensors and 0 auxiliary sensors are available at the tail end of the train. Because m >1, in this state, "at least two sensors are selected and at least one of them is a main sensor as a speed and distance measuring sensor" meeting the requirement of the head end to provide the present embodiment, so that the train condition is met by the head end, and therefore, the table 2 nd row and 2 nd column cell is marked as "head end (1)", which means that the train adopts the head end speed and distance measuring system as the speed and distance measuring system for controlling the train according to the rule (1), and the tail end is in a standby state, and whether the tail end meets the train condition is not considered.
The redundant switching control module adjusts the working state of the speed and distance measuring system in real time according to the running condition of each component of the speed and distance measuring system according to the redundant switching rule in the whole running period of the train from the warehouse-out of the train to the warehouse-in or the fault emergency state, and the detailed description is provided below with reference to the attached drawing 3.
The method for detecting the head and tail redundancy function of the speed and distance measuring system before the train is delivered out of the warehouse comprises one or more of the following detection steps:
detecting whether the speed and distance measuring processing units of the speed and distance measuring systems at the two ends can work normally or not;
detecting whether each sensor of the speed and distance measuring system can work normally;
detecting whether the communication device can be effectively connected with speed and distance measuring systems at two ends;
simulating the faults of partial sensors in the sensors of the speed and distance measuring systems at the two ends, and detecting whether a redundancy control module executes a redundancy switching function according to a preset rule, specifically: designing a plurality of groups of test scenes according to the arrangement of system sensors, wherein each test scene sets partial or all sensors to fail; the design of a plurality of groups of test scenes can cover the plurality of redundancy switching control rules; and executing a plurality of groups of test scenes, and testing whether the system can select a sensor source and switch the speed and distance measuring system to carry out speed and distance measurement according to a preset rule. The multiple times of failure of the analog sensor can be realized through analog testing of a software system or through failure of a signal acquisition device of the sensor preset in a control test scene.
When detecting that the speed and distance measuring system can not meet the redundancy switching requirement, considering that the system is unqualified, and repairing the system; when the inspection meets the requirements, the train is taken out of the warehouse, and the speed and distance measuring system operates. In this embodiment, when the train leaves the warehouse, the speed and distance measuring system at the train head end is set by default to control the train.
And in the running process of the train, the speed and distance measuring system is checked in real time. And checking whether the head end of the control train meets the control train condition.
If the locomotive speed measuring and ranging system has two sensors to normally work at least, and wherein at least one is the main sensor, in this embodiment, if only 1 shaft revolution speed sensor of car head end and have 2 doppler radar sensors normal operating, then:
the vehicle head speed and distance measuring system selects all effectively running sensor information of the vehicle head end to process and outputs a speed and distance measuring result; in the embodiment, 1 wheel axle rotating speed sensor and 2 Doppler radar sensors which effectively operate at the head end of the vehicle are selected as speed and distance measuring sources;
the train head speed and distance measuring system is used as a speed and distance measuring system for controlling the train;
the vehicle tail speed and distance measuring system is in an idle redundant state.
Similarly, when 2 wheel axle revolution speed sensors at the head end of the vehicle all operate effectively but 2 Doppler radar sensors all fail, the vehicle head speed measuring and ranging system still selects 2 wheel axle revolution speed sensors at the head end of the vehicle as a data source, and the speed measuring and ranging result is output through the fusion calculation of the speed measuring and ranging processing unit.
If the condition that the vehicle head speed and distance measuring system does not meet the condition that at least 2 sensors normally work and at least 1 sensor is a main sensor is detected, if 2 wheel axle rotating speed sensors at the head end of the vehicle in the embodiment fail, the vehicle tail speed and distance measuring system is checked to determine whether the vehicle tail speed and distance measuring system meets the condition.
If the speed and distance measuring system at the tail end of the vehicle meets the condition that at least 2 sensors work normally and at least 1 sensor is a main sensor, in the embodiment, if 1 wheel axle rotating speed sensor and 1 Doppler radar sensor at the tail end of the vehicle run normally, the following steps are performed:
the vehicle tail speed and distance measuring system selects all the sensor information of effective operation of the vehicle tail to process and outputs a speed and distance measuring result;
and switching to the train tail speed and distance measuring system to be used as the speed and distance measuring system for controlling the train. The switching control train end may cause the jump of the speed and distance measuring result, the speed and distance measuring system should set to allow the short-time data jump in the switching process, and in this embodiment, the 100ms speed and distance jump caused by the switching is not taken as the fault of the speed and distance measuring system. When the speed and distance measuring system at the head end of the train can not meet the speed and distance measuring requirement and is caused by the idle slipping of the main sensor, the operation of switching the head end to the tail end of the train for controlling the train is not carried out temporarily. After the train is switched to the train tail control train, the running state of the train tail speed and distance measuring system is monitored in real time subsequently, the train head speed and distance measuring system does not need to be continuously checked, even if the train head speed and distance measuring system recovers the function of independently controlling the train, the train head end is not controlled to be switched, the system switching burden can be reduced, and the jump of the speed and distance measuring result caused by the switching of the train head end is reduced.
If the train tail speed and distance measuring system cannot control the train independently, all the sensors at two ends are detected comprehensively, whether the combination of all the effective operation sensors at two ends can meet the condition that at least 2 sensors work normally or not is considered, and at least 1 of the sensors is the safe redundant control train condition of the main sensor. In this embodiment, when only 1 wheel axle speed sensor of car head end is effective but 2 doppler radar sensors all lose efficacy, only 1 doppler radar sensor of rear of a vehicle end is effective and 2 wheel axle speed sensors all lose efficacy, car head end and rear of a vehicle section do not satisfy the condition of controlling the car alone, but synthesize the sensor of car head end and the effective operation of tail end, satisfy above-mentioned safe redundant control train condition. At this time:
the speed and distance measuring system of the locomotive selects all or part of effectively operating sensor information in the speed and distance measuring at two ends to process and outputs speed and distance measuring results; in this embodiment, the speed and distance measuring processing unit fuses 1 wheel axle revolution speed sensor that the car head end effectively operated and 1 doppler radar sensor data that the car tail end effectively operated to realize train speed and distance measuring.
The train is controlled by the speed and distance measuring system at the train head, and the operation of the speed and distance measuring system at the train head is checked in real time.
If all the sensor combinations of the speed and distance measuring systems at the two ends cannot meet the conditions of safe redundant control of the train, the failure of the speed and distance measuring of the train is judged, and the train enters a fault emergency state. In this embodiment, when 2 wheel axle speed sensors at the head end and 2 wheel axle speed sensors at the tail end of the train are all out of service, the train does not meet the conditions of safety redundant control of the train.
The train runs until returning to the warehouse according to the checking rules and the switching method, and the single-point or multi-point faults of the system are overhauled and checked after the train returns to the warehouse.
The redundant control of speed measurement and distance measurement safety during the operation of the train is only used as an exemplary illustration, and a person skilled in the art can feel the method and the principle disclosed by the invention to adjust. If the two ends of the train do not meet the conditions for independently controlling the train, the speed and distance measurement can be realized by combining the sensors at the two ends, and at the moment, if the speed and distance measurement processing unit of the head-end speed and distance measurement system breaks down, the tail-end speed and distance measurement processing unit can be used for fusing the data sources of the sensors effectively operating at the two ends to control the train. For another example, in this embodiment, in order to reduce the system checking load and the jump of switching and controlling the train end switching, when the train is controlled at the train tail, if the train head end speed and distance measuring system recovers during operation and can independently control the train, it is not necessary to switch the train control end to the train head end. But those skilled in the art can switch the head-end of the carriage return to control the train in this case according to the actual application needs. When the train can not carry out speed measurement and distance measurement in a safe redundant mode and enters a fault emergency state, the train can always keep checking the speed measurement and distance measurement system in real time so as to continuously run when the safe running condition is met before the train returns to a warehouse, and the train can directly switch the control end as required to continuously run when reaching the condition of speed measurement and distance measurement in the safe running of the train in the embodiment.
Based on the same inventive concept, the invention also provides a rail train head-to-tail redundant speed and distance measuring method, which comprises the following steps:
the speed and distance measuring systems at the two ends of the train are connected through a communication device, so that the measurement information of the sensors at the head end and the tail end of the train is shared between the two speed and distance measuring systems;
selecting at least X sensors which normally run from speed and distance measuring systems at two ends of a train as measurement data sources according to a preset rule for processing, wherein at least Y sensors in the X sensors are main sensors; wherein Y is more than or equal to 1, and X is more than or equal to 2.
Processing the selected sensor measurement data and outputting speed and distance measurement result information; the main sensor is a wheel axle rotating speed sensor, and the auxiliary sensor can be one or more of a Doppler radar sensor, an accelerometer sensor and a satellite positioning sensor.
And selecting one of the speed and distance measuring systems at the two ends as a speed and distance measuring system for train operation control according to a preset rule.
The specific implementation of the method for measuring speed and distance of head and tail redundancy of the rail train is consistent with the working principle of each module unit of the system for measuring speed and distance of head and tail redundancy of the rail train, and is not repeated.
Specifically, those skilled in the art can selectively arrange the specific components according to the principle of the present invention as long as the principle of the control method of the present invention can be implemented.
Those skilled in the art will understand that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art may modify the technical solutions described in the foregoing embodiments or may substitute some or all of the technical features; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (19)
1. A redundant speed and distance measuring system for the head and the tail of a rail train is characterized in that,
the head end and the tail end of the train are respectively provided with a set of independent speed and distance measuring system;
each speed and distance measuring system comprises M main sensors and N auxiliary sensors for speed and distance measurement, wherein M is more than or equal to 1, N is more than or equal to 0, and M + N is more than or equal to 2;
each set of speed and distance measuring system also comprises a speed and distance measuring processing unit which is used for processing the measuring data of the sensor and outputting the information of the speed and distance measuring result;
the speed and distance measuring systems at the two ends are connected through a communication device, the speed and distance measuring processing unit of each system sends the output speed and distance measuring result and the sensor state to the speed and distance measuring processing unit at the opposite end, and the measuring information of the sensors at the head end and the tail end of the train is shared between the two speed and distance measuring systems through the communication device;
the redundancy switching control module is used for controlling according to the following preset rules: the speed and distance measuring processing unit at least selects X sensors which normally run from the sensors of the speed and distance measuring systems at two ends as measuring data sources to process, at least Y sensors in the X sensors are main sensors, wherein Y is not less than X and not more than M + N, Y is not less than 1, and X is not less than 2; the system is also used for selecting one of the speed and distance measuring systems at the two ends as a speed and distance measuring system for controlling the operation of the train;
the predetermined rule includes:
if the vehicle head speed and distance measuring system has at least X sensors which normally work, and at least Y sensors are main sensors, then: the speed and distance measuring system of the locomotive selects all or part of the sensor information which effectively operates on the locomotive to process and outputs a speed and distance measuring result;
the train head speed and distance measuring system is used as a speed and distance measuring system for train operation control;
the vehicle tail speed and distance measuring system is in an idle redundant state;
if the locomotive tests the speed ranging system trouble, the rear of a vehicle tests the speed ranging system and has at least X sensor normally works, and wherein at least Y is the main sensor, then:
the vehicle tail speed and distance measuring system selects all or part of the effectively running sensor information of the vehicle tail to process and outputs a speed and distance measuring result;
switching to a vehicle tail speed and distance measuring system as a speed and distance measuring system used for train operation control;
if the speed and distance measuring systems at the two ends of the train have faults, but the combination of the sensors at the two ends can meet the condition that at least X sensors which effectively operate exist and at least Y sensors are main sensors, then:
the speed and distance measuring system of the locomotive selects all or part of effectively operating sensor information in the speed and distance measuring at two ends to process and outputs speed and distance measuring results;
the train is provided with a train head speed and distance measuring system as a speed and distance measuring system used for train operation control.
2. The system of claim 1,
the main sensor is a wheel axle rotating speed sensor;
the auxiliary sensor is one or more of a Doppler radar sensor, an accelerometer sensor and a satellite positioning sensor.
3. The system of claim 1,
the speed and distance measuring processing unit is used for processing the measurement data of the sensor and outputting speed and distance measuring result information, and specifically comprises the following steps:
the speed and distance measuring processing unit performs data calculation, fusion and recording of the sensor state according to the sensor protocol, and outputs the fused speed, acceleration, position and sensor state information.
4. The system of claim 1, wherein the predetermined rule further comprises:
if the speed measuring and distance measuring system at both ends of the train breaks down, and the condition that at least two sensors which effectively operate exist and one of the sensors is a main sensor cannot be met, then:
and judging that the train speed and distance measurement is invalid.
5. The system according to claim 1, further comprising a redundancy detection module, wherein the redundancy detection module is used for detecting the head-to-tail redundancy function of the speed and distance measuring system before the train is delivered from the warehouse.
6. The system according to claim 5, wherein the detection of head-to-tail redundancy function of the speed-measuring and distance-measuring system comprises one or more of the following checking steps:
detecting whether the speed and distance measuring processing units of the speed and distance measuring systems at the two ends can work normally or not;
detecting whether each sensor of the speed and distance measuring system can work normally;
detecting whether the communication device can be effectively connected with speed and distance measuring systems at two ends;
simulating faults of part of sensors in the sensors of the speed and distance measuring systems at two ends for multiple times, and detecting whether a redundancy control module executes a redundancy switching function according to a preset rule; the multiple times of simulation are carried out, and different sensors are selected as simulated fault sensors each time; the multiple simulations test the redundant control functions of the redundant control modules by selecting different combinations of sensor coverage or partial coverage each time.
7. The system according to claim 1, characterized in that the selection of one of the two end speed and distance measuring systems as the speed and distance measuring system for train operation control follows the following rules:
in the running process of the train, when the main sensor slips in an idling mode, the speed and distance measuring system does not select and switch the head and tail speed and distance measuring system.
8. The system of claim 1, wherein when the train speed and distance measuring system fails and can still be controlled by the redundant switching control module to realize head or tail control of the train, the train is allowed to run to the garage according to the head and tail redundant state.
9. The system of claim 1, wherein the system for switching to the train tail speed measuring and distance measuring system is used for controlling a train speed measuring and distance measuring system, and further comprises:
in the running process, if the train head speed and distance measuring system is recovered from a fault, the train control end does not need to switch back to the train head speed and distance measuring system.
10. The system of claim 1, wherein selecting one of the two end speed and distance measuring systems as the speed and distance measuring system for train operation control further comprises:
in the process of selecting the speed and distance measuring system, if the speed and distance measuring system at the train control end is switched, the measuring result of the speed and distance measuring system is allowed to jump within preset time.
11. A rail train head-to-tail redundancy speed and distance measuring method is characterized by comprising the following steps:
the speed and distance measuring systems at two ends of the train are connected through a communication device, and the speed and distance measuring processing unit of each system sends the output speed and distance measuring result and the sensor state to the speed and distance measuring processing unit at the opposite end, so that the measurement information of the sensors at the head end and the tail end of the train is shared between the two speed and distance measuring systems;
each system can select at least X sensors which normally run from speed and distance measuring systems at two ends of the train as measurement data sources to process according to a preset rule, wherein at least Y sensors in the X sensors are main sensors, Y is more than or equal to 1, and X is more than or equal to 2;
processing the selected sensor measurement data and outputting speed and distance measurement result information;
selecting one of the speed and distance measuring systems at the two ends as a speed and distance measuring system for train operation control according to the preset rule;
the predetermined rule includes:
if the vehicle head speed and distance measuring system has at least X sensors which normally work, and at least Y sensors are main sensors, then:
the speed and distance measuring system of the locomotive selects all or part of the sensor information which effectively operates on the locomotive to process and outputs a speed and distance measuring result;
the train head speed and distance measuring system is used as a speed and distance measuring system for train operation control;
the vehicle tail speed and distance measuring system is in an idle redundant state;
if the locomotive tests the speed ranging system trouble, the rear of a vehicle tests the speed ranging system and has at least X sensor normally works, and wherein at least Y is the main sensor, then:
the vehicle tail speed and distance measuring system selects all or part of the effectively running sensor information of the vehicle tail to process and outputs a speed and distance measuring result;
switching to a vehicle tail speed and distance measuring system as a speed and distance measuring system used for train operation control;
if the speed and distance measuring systems at the two ends of the train have faults, but the combination of the sensors at the two ends can meet the condition that at least X sensors which effectively operate exist and at least Y sensors are main sensors, then:
the speed and distance measuring system of the locomotive selects all or part of effectively operating sensor information in the speed and distance measuring at two ends to process and outputs speed and distance measuring results;
the train is provided with a train head speed and distance measuring system as a speed and distance measuring system used for train operation control.
12. The method of claim 11,
the main sensor is a wheel axle rotating speed sensor;
the auxiliary sensor is one or more of a doppler radar sensor, an accelerometer sensor, a satellite positioning sensor.
13. The method of claim 11,
the processing of the selected sensor measurement data and the outputting of the speed and distance measurement result information are specifically as follows:
and calculating and fusing data according to the sensor protocol, recording the state of the sensor, and outputting the fused speed, acceleration, position and sensor state information.
14. The method of claim 11, wherein the predetermined rule further comprises:
if the speed measuring and distance measuring system at both ends of the train breaks down, and the condition that at least two sensors which effectively operate exist and one of the sensors is a main sensor cannot be met, then:
and judging that the train speed and distance measurement is invalid.
15. The method according to any of claims 11-14, further comprising detecting the speed and distance measuring system, wherein the detecting comprises one or more of the following steps:
detecting whether each sensor of the speed and distance measuring system can work normally;
detecting whether the speed and distance measuring systems at the two ends can carry out effective communication;
detecting whether the speed and distance measuring system can perform calculation processing on the selected sensor data or not, and outputting a calculation result;
simulating faults of part of sensors in the speed and distance measuring systems at the two ends for multiple times, and detecting whether the speed and distance measuring systems execute a redundant switching function according to a preset rule; the multiple times of simulation are carried out, and different sensors are selected as simulated fault sensors each time; and the multiple times of simulation are carried out, and whether the operation of the speed and distance measuring system meets the preset rule is tested by selecting the sensors with different combinations each time.
16. The method according to claim 11, characterized in that the selection of one of the two end speed and distance measuring systems as the speed and distance measuring system for train operation control follows the following rules:
in the running process of the train, when the main sensor slips in an idling mode, the speed and distance measuring system does not select and switch the head and tail speed and distance measuring system.
17. The method as claimed in claim 11, wherein when the train speed and distance measuring system fails and can still be controlled by the redundancy switching control module to realize the control of the train at the head or the tail, the train is allowed to run to the garage according to the head-tail redundancy state.
18. The method as claimed in claim 11, wherein the switching to the train tail speed measuring and distance measuring system is used as a speed measuring and distance measuring system for controlling the train, further comprising:
in the running process, if the train head speed and distance measuring system is recovered from a fault, the train control end does not need to switch back to the train head speed and distance measuring system.
19. The method of claim 11, wherein selecting one of the two end speed and distance measuring systems as the speed and distance measuring system for train operation control further comprises:
in the process of selecting the speed and distance measuring system, if the speed and distance measuring system at the train control end is switched, the measuring result of the speed and distance measuring system is allowed to jump within preset time.
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| PCT/CN2019/105213 WO2020078146A1 (en) | 2018-10-19 | 2019-09-10 | Front-rear redundant speed and distance measurement system and method for rail train |
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| CN111547105B (en) * | 2020-04-09 | 2021-05-11 | 同济大学 | Non-contact speed measurement positioning method for medium-low speed maglev train |
| EP4140852A4 (en) * | 2020-04-20 | 2024-05-15 | Hitachi, Ltd. | Train speed control system and train speed control method |
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