CN110435432A - Pantograph rising bow control system and method - Google Patents
Pantograph rising bow control system and method Download PDFInfo
- Publication number
- CN110435432A CN110435432A CN201910707006.5A CN201910707006A CN110435432A CN 110435432 A CN110435432 A CN 110435432A CN 201910707006 A CN201910707006 A CN 201910707006A CN 110435432 A CN110435432 A CN 110435432A
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- control
- rising bow
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- pantograph
- rising
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
- B60L5/28—Devices for lifting and resetting the collector
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of pantograph rising bow control method and control system, control method are as follows: including automatic control mode and manual control mode, control method is the following steps are included: judge whether vehicle is in automatic driving mode；If so, generating rising bow control instruction signal using automatic control mode；If it is not, then using manual control mode, rising bow control instruction signal is generated.Rising bow control system includes controller, and control signal output executes control mechanism with pantograph rising bow and connect, specifically includes: automatic control unit: for generating rising bow control instruction signal when vehicle is in automatic driving mode；Manual control unit: for when vehicle is in pilot steering mode, receiving rising bow manipulation key instruction, rising bow control instruction signal is generated.This method and system are controlled based on fully automatic operation, by network-control pantograph rising bow, are realized the fusion of a variety of rising bow control strategies, are improved the reliability of rising bow control.
Description
Technical field
The present invention relates to Train Control Technology fields, and in particular to a kind of pantograph rising bow control system and control method.
Background technique
Train operation takes electricity by pantograph.In order to normally take electricity, needs to guarantee that pantograph is normally contacted with power grid, need
Carry out rising bow or drop bow operation.
As full-automatic unmanned driving's technology starts to apply in urban rail project, some full-automatic unmanned drivings control skill
Art emerges, and as the power source of entire train, the automatic rising bow technology of full-automatic unmanned driving is then in the entire system
Aobvious is particularly important.
Traditional train pantograph control mode uses rigid line control mode, by pressing the rising bow being arranged on driving position
Button obtains rising bow solenoid valve electric, to realize that pantograph rising bow controls.The strategy only can be by connecting in vehicle rigid line
The condition of other rising bows control will lead to rising bow disabler if there is Single Point of Faliure, and redundancy is lower；And it has to
It is artificial to participate in just being able to achieve rising bow control, it can not be applied in unpiloted system.
Summary of the invention
The purpose of the present invention is to provide the pantograph rising bow control method and system of a kind of redundant, the system and method
It can be used for the pantograph rising bow control of automatic driving vehicle, high reliablity.
In order to achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of pantograph rising bow control method, including automatic control mode and manual control mode, the control method
The following steps are included:
Judge whether vehicle is in automatic driving mode；
If so, generating rising bow control instruction signal using automatic control mode；
If it is not, then using manual control mode, rising bow control instruction signal is generated.
Preferably, the automatic control mode includes full-automatic unmanned control model and remote handle control model.
Preferably, under full-automatic unmanned control model, the method for generation rising bow control instruction signal are as follows:
When train is in and wakes up operating condition, generating vehicle rising bow according to the main air hose air pressure of vehicle pantograph allows signal；
If air pressure meets rising bow condition, rising bow control instruction signal is automatically generated；
If air pressure is unsatisfactory for rising bow condition, rigid line emergency rising bow control instruction signal is exported, control pantograph air pump is beaten
It opens, until automatically generating rising bow control instruction signal when air pressure meets rising bow condition.
Preferably, the method for generating rising bow control signal further comprises following step under full-automatic unmanned control model
It is rapid:
Before automatically generating rising bow control instruction signal or output rigid line emergency rising bow control instruction signal, further progress
The judgement of rising bow condition generates rising bow control instruction signal and under the conditions of meeting rising bow, and the rising bow condition judgement includes but not
It is limited to:
Pantograph bends signal without drop；
Disconnecting switch is in pantograph position in high pressure distributor box；
Train network control system fault-free；
Speed is zero.
Preferably, under remote handle control model, the method for generation rising bow control instruction signal are as follows:
Rising bow instruction is assigned by ground control terminal；
After vehicle end receives rising bow instruction, the judgement of further progress rising bow condition, and under the conditions of meeting rising bow, it generates and rises
Bend control instruction signal, the rising bow condition judgement includes but is not limited to:
Pantograph bends signal without drop；
Disconnecting switch is in pantograph position in high pressure distributor box；
Train network control system fault-free；
Speed is zero.
A kind of rising bow control system, including controller, the control signal output and pantograph rising bow of controller execute control
Mechanism connection processed, the controller include:
Automatic control unit: for generating rising bow control instruction signal when vehicle is in automatic driving mode；
Manual control unit: for when vehicle is in pilot steering mode, receiving rising bow manipulation key instruction, and liter is generated
Bend control instruction signal.
Preferably, the automatic control unit includes:
Full-automatic unmanned control module: raw in the instruction of the long-range rising bow in no ground, and when train meets rising bow condition
At rising bow control instruction signal.
Remote handle control module: it for obtaining ground long-range rising bow instruction, and when train meets rising bow condition, generates
Rising bow control instruction signal.
As preferred: the signal output end connection signal output unit of the controller, the signal output unit include
The first control signal output module and second control signal output module of series connection, the first control signal output module
For the 1 DO point, the second control signal output module is the 2nd DO point, and the controller generates the 1 DO point and the 2nd DO
The series connection output end of the open and close control signal of point, the 1 DO point and the 2nd DO point is connect with rising bow solenoid valve.
Compared with prior art, the advantages and positive effects of the present invention are:
This method and system are controlled based on fully automatic operation, are suitable for fully automatic operation train pantograph rising bow controlling party
Method can increase redundancy by network-control pantograph rising bow for unmanned feature from software view, realize
The fusion of a variety of rising bow control strategies improves the reliability of rising bow control.
Detailed description of the invention
Fig. 1 is pantograph bow net self adaptive control flow diagram of the present invention；
Fig. 2 is inter-network path simulation structural schematic diagram.
Specific embodiment
In the following, the present invention is specifically described by illustrative embodiment.It should be appreciated, however, that not into one
In the case where step narration, element, structure and features in an embodiment can also be advantageously incorporated into other embodiments
In.
The present invention provides a kind of pantograph rising bow control method and control method, this method can be used for automatic Pilot vehicle
Automatic rising bow control.
Pantograph rising bow control method includes automatic control mode and manual control mode, wherein automatic control mode
The rising bow control under automatic driving mode is operated in for vehicle；Manual control mode operates in pilot steering mode for vehicle
Under rising bow control.
Vehicle control system selects control method according to the operating status of vehicle, and specifically, control method includes following step
It is rapid:
Judge whether vehicle is in automatic driving mode；
If so, generating rising bow control instruction signal using automatic control mode；
If it is not, then using manual control mode, rising bow control instruction signal is generated.
Further, automatic driving mode is further divided, automatic control mode includes full-automatic unmanned
Control model and remote handle control model.Wherein, full-automatic unmanned control model generates rising bow control for vehicle itself and refers to
It enables, long-range rising bow of the remote handle control model for ground in face of vehicle controls.
Hereinafter, will be described the specific work process of various control models.
(1) full-automatic unmanned control model
Generally, (all FAM mode switching signals are FAM mode bit) under full-automatic unmanned control model, it generates and rises
Bend the method for control instruction signal are as follows:
When train is in and wakes up operating condition, judge that vehicle allows signal with the presence or absence of rising bow, rising bow described herein allows
Signal is generated according to the main air hose air pressure of pantograph, if main air hose air pressure is low, is unsatisfactory for rising bow enabled condition, Bu Nengsheng
Allow signal at normal rising bow；
If so, automatically generating rising bow control instruction signal；
If it is not, then exporting rigid line emergency rising bow control instruction signal, control pantograph air pump is opened, is risen until air pressure meets
Bend enabled condition, then automatically generates rising bow control instruction signal.
Specifically, it is necessary first to guarantee that vehicle is in and be waken up disclosure, and there are upper electricity demandings.Networked control system of the train and
Monitoring system (abbreviation TCMS) detection powers on desired signal.Powering on desired signal can be according to the control of unlike signal system manufacturers
Demand and set, can be with are as follows: automatic Pilot run-up mode signal or Hi-pot test command signal etc. power on desired signal as rising
Bend the precondition of control.
Further, in the case where rising bow precondition meets, train TCMS system further determines whether to meet
Following rising bow enabled condition:
1. all pantographs drop bow signal without ADD.
2. the disconnecting switch (IES) in all high pressure distributor boxes is in pantograph position.Wherein IES is relevant to pantograph
One equipment, point many positions, including pantograph position, ground connection position etc., if not allowing rising bow in pantograph position.
3. vehicle both ends do not collect CAM mode/standby mode end to end.Specifically, CAM mode is wriggling mode, TCMS
The one mode entered after failure, similar with standby mode, the two mode signals are that vehicle rigid line issues.
4. vehicle is zero-speed.In view of the safety of rising bow, under train steady state, rising bow instruction can be performed.
5. bicycle rising bow allows signal, and the non-rising bow of bicycle pantograph is in place.
Wherein, rising bow allows signal primarily directed to the pantograph that need to rise by air pressure, when train is stopped for a long time
When air leakage phenomena occurs for dormancy or main air hose, it may appear that when vehicle wakes up, train is in the case of emergency of " having electricity without gas ", this
Shi Quan, which is listed, now allows signal without rising bow, and in this case, TCMS is after all conditions satisfaction, output emergency rising bow instruction rigid line
Signal, the signal can drive electrodynamic pump to beat wind, and after wind pressure satisfaction, rising bow enabled condition meets, TCMS according to it is normal complete from
Dynamic rising bow strategy respectively controls the rising bow of each pantograph.
In the case where above-mentioned condition all meets, pantograph rising bow control instruction signal is generated, which is specially to act on
Impulse wave onto rising bow solenoid valve realizes the control of pantograph rising bow.
(2) remote handle control model
Under remote handle control model, the method for generation rising bow control instruction signal are as follows:
Rising bow instruction is assigned by ground control terminal；
After vehicle end receives rising bow instruction, the judgement of further progress rising bow condition, and under the conditions of meeting rising bow, it generates and rises
Bend control instruction signal.
Specifically, cordless communication network is constructed under train Che Shangyu vehicle, can receive the control signal under vehicle on vehicle.Vehicle
Scheduling is arranged rising bow by expert workstation and selects knob, after vehicle scheduling adjusting finishes rising bow select button, presses rising bow
Button.Unlike local rising bow, by expert workstation, by LTE vehicle channel is sent to train, TCMS for rising bow instruction
After receiving the instruction, after judging that following all conditions are all satisfied, output pantograph rising bow instructs hard signal.
Wherein rising bow condition judgement includes but is not limited to:
1. all pantographs drop bow signal without ADD.
2. the disconnecting switch (IES) in all high pressure distributor boxes is in pantograph position.
3. vehicle both ends do not collect CAM mode/standby mode end to end.That is train network system fault-free.
4. vehicle is zero-speed.
Compared with the mode of full-automatic unmanned control, remote handle mode is manually to be issued by master controller toward vehicle
Instruction, needs the participation of people to a certain degree.The personnel of ground control centre, which understand manual confirmation rising bow, allows signal and rising bow in place
Signal.
(3) manual control mode.
Local artificial rising bow: when non-full-automatic driving mode, after drivers' cab activation, when having rising bow condition, operator's tune
After section finishes rising bow select button, rising bow button is pressed, rigid line instruction is applied directly on rising bow battery valve, completes pantograph
Rising bow control.
The present invention further provides a kind of rising bow control system, which can realize above-mentioned control method, can be configured in
Train or electric car etc. are taken using pantograph on the automatic driving vehicle of electricity.
A kind of rising bow control system, including controller, the controller can directly adopt train network i.e. supervisor control,
Or controller can also be separately configured.The control signal output of controller executes control mechanism with pantograph rising bow and connect,
It is specifically connect with the rising bow solenoid valve of pantograph, control wave is output to rising bow solenoid valve, realizes pantograph liter
Bow control.Controller includes:
Automatic control unit: for automatically generating rising bow control instruction signal when vehicle is in automatic driving mode；
Manual control unit: for when vehicle is in pilot steering mode, receiving rising bow manipulation key instruction, and liter is generated
Bend control instruction signal.
As advanced optimizing, the decision rule of controller internal preset rising bow condition can refer to previously described rule,
Feedback signal of the controller by corresponding testing agency, the corresponding signal condition of mobile phone rising bow conditional plan.It automatically controls single
Member further comprises:
Full-automatic unmanned control module: in the instruction of the long-range rising bow in no ground, and when train meets rising bow condition,
Generate rising bow control instruction signal.
Remote handle control module: it for obtaining ground long-range rising bow instruction, and when train meets rising bow condition, generates
Rising bow control instruction signal.
In addition, will lead to abnormal liter when abnormal signal, equipment failure in pantograph rising bow control system
Bow.For the failure rate for the abnormal rising bow that degrades, unlike the prior art, the present invention also provides a kind of concatenated signal of DO point is defeated
Structure out.The signal output end connection signal output unit of controller, the signal output unit include first be connected in series
Signal output module (DO1 signal output point) and second control signal output module (DO2 signal output point) are controlled, controller is defeated
Signal is used to control the switch state of DO1 and DO2 out.
With specific reference to Fig. 2.Pantograph rising bow allows signal from hard signal, and (including previously described rising bow allows letter
Number), by logic calculation, when meeting pantograph rising bow control condition, the instruction of TCMS rising bow is using two different input and output moulds
DO point in block, which is connected, to be realized, improves reliability compared to single-point control, both it is possible to prevente effectively from current spike in vehicle circuit
Abnormal rising bow caused by interference, and to avoid the single input/output module of TCMS closure failure extremely or caused exception can be adhered
Rising bow.The crash rate of the DO point of the TCMS required according to SIL2 grades is 10-6For calculate, i.e. DO point engaging it is equal with the probability of card minute
It is 10-6。
In above-mentioned two DO configuration as caused by engaging can not exception rising bow caused by rising bow and card point probability it is as follows.
It can be seen that the probability of abnormal rising bow is reduced after the series connection of two DO points with exponential depth, although can not the probability of rising bow be
2 times of the probability of single DO, but 10-6Magnitude on be not improved it is too many, and for the angle of guiding safety, greatly
The probability that width reduces abnormal rising bow is correct way, which substantially drops under the case where reducing vehicle rigid line complexity to the greatest extent
The probability of low exception rising bow.
Pantograph rising bow control system and control method provided by the invention can be used for oneself of full-automatic unmanned driving's vehicle
Dynamic rising bow control.Due to using Redundancy Design the control system integrally reliability and intelligence with higher of various control mode
Property.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
It imitates embodiment and is applied to other fields, but without departing from the technical solutions of the present invention, according to the technical essence of the invention
Any simple modification, equivalent variations and remodeling to the above embodiments, still fall within the protection scope of technical solution of the present invention.
Claims (8)
1. a kind of pantograph rising bow control method, which is characterized in that described including automatic control mode and manual control mode
Control method the following steps are included:
Judge whether vehicle is in automatic driving mode；
If so, generating rising bow control instruction signal using automatic control mode；
If it is not, then using manual control mode, rising bow control instruction signal is generated.
2. pantograph rising bow control method as described in claim 1, which is characterized in that the automatic control mode include it is complete from
Move unmanned control model and remote handle control model.
3. pantograph rising bow control method as claimed in claim 2, which is characterized in that raw under full-automatic unmanned control model
At the method for rising bow control instruction signal are as follows:
When train is in and wakes up operating condition, generating vehicle rising bow according to the main air hose air pressure of vehicle pantograph allows signal；
If air pressure meets rising bow condition, rising bow control instruction signal is automatically generated；
If air pressure is unsatisfactory for rising bow condition, rigid line emergency rising bow control instruction signal is exported, control pantograph air pump is opened, directly
When meeting rising bow condition to air pressure, rising bow control instruction signal is automatically generated.
4. pantograph rising bow control method as claimed in claim 3, which is characterized in that raw under full-automatic unmanned control model
It is further included steps of at the method for rising bow control signal
Before automatically generating rising bow control instruction signal or output rigid line emergency rising bow control instruction signal, further progress rising bow
Condition judgement generates rising bow control instruction signal and under the conditions of meeting rising bow, and the rising bow condition judgement includes but unlimited
In:
Pantograph bends signal without drop；
Disconnecting switch is in pantograph position in high pressure distributor box；
Train network control system fault-free；
Speed is zero.
5. pantograph rising bow control method as claimed in claim 2, which is characterized in that under remote handle control model, generate
The method of rising bow control instruction signal are as follows:
Rising bow instruction is assigned by ground control terminal；
After vehicle end receives rising bow instruction, the judgement of further progress rising bow condition, and under the conditions of meeting rising bow, generate rising bow control
Command signal processed, the rising bow condition judgement includes but is not limited to:
Pantograph bends signal without drop；
Disconnecting switch is in pantograph position in high pressure distributor box；
Train network control system fault-free；
Speed is zero.
6. a kind of rising bow control system, which is characterized in that including controller, the control signal output and pantograph liter of controller
Bow executes control mechanism connection, and the controller includes:
Automatic control unit: for generating rising bow control instruction signal when vehicle is in automatic driving mode；
Manual control unit: for when vehicle is in pilot steering mode, receiving rising bow manipulation key instruction, and rising bow control is generated
Command signal processed.
7. rising bow control system as claimed in claim 6, which is characterized in that the automatic control unit includes: full-automatic nothing
People's control module: in the instruction of the long-range rising bow in no ground, and when train meets rising bow condition, rising bow control instruction letter is generated
Number.
Remote handle control module: for obtaining ground long-range rising bow instruction, and when train meets rising bow condition, rising bow is generated
Control instruction signal.
8. rising bow control system as claimed in claim 6, which is characterized in that the signal output end connection signal of the controller
Output unit, the signal output unit include the first control signal output module being connected in series and second control signal output
Module, the first control signal output module are the 1 DO point, and the second control signal output module is the 2nd DO point, institute
State the open and close control signal that controller generates the 1 DO point and the 2nd DO point, the series connection output end of the 1 DO point and the 2nd DO point with
The connection of rising bow solenoid valve.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910707006.5A CN110435432B (en) | 2019-08-01 | 2019-08-01 | Pantograph lifting control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910707006.5A CN110435432B (en) | 2019-08-01 | 2019-08-01 | Pantograph lifting control system and method |
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| CN110435432B CN110435432B (en) | 2021-01-22 |
Family
ID=68432744
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111532138A (en) * | 2020-05-08 | 2020-08-14 | 中车青岛四方机车车辆股份有限公司 | Control method of power supply equipment and rail train |
| CN111619358A (en) * | 2020-06-02 | 2020-09-04 | 中车青岛四方车辆研究所有限公司 | Automatic pantograph control method |
| CN111634308A (en) * | 2020-05-20 | 2020-09-08 | 中车青岛四方车辆研究所有限公司 | Remote start control method for train |
| CN112332364A (en) * | 2020-09-28 | 2021-02-05 | 中车青岛四方机车车辆股份有限公司 | Overcurrent protection control method and system under pantograph lifting state of pantograph |
| CN112346395A (en) * | 2020-10-15 | 2021-02-09 | 中车青岛四方机车车辆股份有限公司 | Pantograph slide plate abrasion intelligent control system and method |
| CN113696739A (en) * | 2020-05-22 | 2021-11-26 | 株洲中车时代电气股份有限公司 | Pantograph selection control method and system |
| CN113829900A (en) * | 2020-06-24 | 2021-12-24 | 比亚迪股份有限公司 | Train, train power-off control method and equipment |
| WO2022152025A1 (en) * | 2021-01-18 | 2022-07-21 | 中车青岛四方机车车辆股份有限公司 | Rail train pantograph control method and apparatus, storage medium and computer device |
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| CN112332364A (en) * | 2020-09-28 | 2021-02-05 | 中车青岛四方机车车辆股份有限公司 | Overcurrent protection control method and system under pantograph lifting state of pantograph |
| CN112332364B (en) * | 2020-09-28 | 2022-09-23 | 中车青岛四方机车车辆股份有限公司 | Overcurrent protection control method and system under pantograph lifting state of pantograph |
| CN112346395A (en) * | 2020-10-15 | 2021-02-09 | 中车青岛四方机车车辆股份有限公司 | Pantograph slide plate abrasion intelligent control system and method |
| CN112346395B (en) * | 2020-10-15 | 2022-03-01 | 中车青岛四方机车车辆股份有限公司 | Pantograph slide plate abrasion intelligent control system and method |
| WO2022152025A1 (en) * | 2021-01-18 | 2022-07-21 | 中车青岛四方机车车辆股份有限公司 | Rail train pantograph control method and apparatus, storage medium and computer device |
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