CN110435432B - Pantograph lifting control system and method - Google Patents
Pantograph lifting control system and method Download PDFInfo
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- CN110435432B CN110435432B CN201910707006.5A CN201910707006A CN110435432B CN 110435432 B CN110435432 B CN 110435432B CN 201910707006 A CN201910707006 A CN 201910707006A CN 110435432 B CN110435432 B CN 110435432B
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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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Abstract
The invention provides a pantograph lifting control method and a pantograph lifting control system, wherein the control method comprises the following steps: the control method comprises an automatic control mode and a manual control mode, and comprises the following steps: judging whether the vehicle is in an automatic driving mode or not; if so, generating a pantograph lifting control instruction signal by adopting an automatic control mode; if not, a manual control mode is adopted to generate a pantograph lifting control instruction signal. Rise bow control system and include the controller, its control signal output end rises bow actuating control mechanism with the pantograph and is connected, specifically includes: an automatic control unit: the automatic control system is used for generating a pantograph rising control instruction signal when the vehicle is in an automatic driving mode; a manual control unit: and the control device is used for receiving the instruction of the pantograph lifting control key and generating a pantograph lifting control instruction signal when the vehicle is in a manual driving mode. The method and the system are based on full-automatic operation control, the pantograph lifting is controlled through a network, fusion of multiple pantograph lifting control strategies is achieved, and reliability of pantograph lifting control is improved.
Description
Technical Field
The invention relates to the technical field of train control, in particular to a pantograph lifting control system and a pantograph lifting control method.
Background
The train runs through the pantograph to obtain electricity. In order to normally take power, the pantograph is required to be ensured to be normally contacted with a power grid, and pantograph lifting or pantograph lowering operation is required.
With the beginning of the application of the full-automatic unmanned technology in urban rail projects, some full-automatic unmanned control technologies emerge, and as a power source of the whole train, the full-automatic unmanned automatic pantograph-raising technology is particularly important in the whole system.
The traditional control mode of the pantograph of the train adopts a hard wire control mode, and the pantograph lifting electromagnetic valve is powered by pressing a pantograph lifting button arranged on a driver platform, so that the pantograph lifting control is realized. The strategy can only be controlled by connecting other pantograph lifting devices in series in a vehicle hard wire, if a single-point fault occurs, the pantograph lifting function fails, and the redundancy is low; and the pantograph lifting control can be realized only by manual participation, and the method cannot be applied to an unmanned system.
Disclosure of Invention
The invention aims to provide a redundant pantograph lifting control method and system, which can be used for pantograph lifting control of an unmanned vehicle and have high reliability.
In order to achieve the purpose, the invention adopts the technical scheme that:
a pantograph lifting control method comprises an automatic control mode and a manual control mode, and comprises the following steps:
judging whether the vehicle is in an automatic driving mode or not;
if so, generating a pantograph lifting control instruction signal by adopting an automatic control mode;
if not, a manual control mode is adopted to generate a pantograph lifting control instruction signal.
Preferably, the automatic control mode comprises a full-automatic unmanned control mode and a remote manual control mode.
Preferably, in the full-automatic unmanned control mode, the method for generating the pantograph lifting control command signal comprises the following steps:
when the train is in an awakening working condition, generating a vehicle pantograph rising permission signal according to the air pressure of a main air pipe of a vehicle pantograph;
if the air pressure meets the bow-lifting condition, automatically generating a bow-lifting control instruction signal;
if the air pressure does not meet the pantograph lifting condition, outputting a hard wire emergency pantograph lifting control instruction signal to control the pantograph air pump to be opened, and automatically generating a pantograph lifting control instruction signal until the air pressure meets the pantograph lifting condition.
Preferably, in the fully automatic unmanned control mode, the method for generating the pantograph lifting control signal further comprises the following steps:
before automatically generating an arch lifting control instruction signal or outputting a hard-wire emergency arch lifting control instruction signal, further performing arch lifting condition judgment, and generating an arch lifting control instruction signal under the condition that the arch lifting condition is met, wherein the arch lifting condition judgment comprises but is not limited to:
the pantograph has no pantograph lowering signal;
the isolation switches in the high-voltage distribution box are all positioned at the pantograph;
the train network control system has no fault;
the vehicle speed is zero.
Preferably, in the remote manual control mode, the method for generating the pantograph lifting control command signal comprises the following steps:
sending a bow lifting instruction through a ground control end;
after receiving the pantograph lifting instruction, the vehicle further performs pantograph lifting condition judgment, and generates a pantograph lifting control instruction signal when the pantograph lifting condition is met, wherein the pantograph lifting condition judgment includes but is not limited to:
the pantograph has no pantograph lowering signal;
the isolation switches in the high-voltage distribution box are all positioned at the pantograph;
the train network control system has no fault;
the vehicle speed is zero.
A pantograph lifting control system comprises a controller, wherein a control signal output end of the controller is connected with a pantograph lifting execution control mechanism, and the controller comprises:
an automatic control unit: the automatic control system is used for generating a pantograph rising control instruction signal when the vehicle is in an automatic driving mode;
a manual control unit: and the control device is used for receiving the pantograph lifting control key instruction and generating a pantograph lifting control instruction signal when the vehicle is in a manual driving mode.
Preferably, the automatic control unit includes:
full-automatic unmanned control module: the system is used for generating a pantograph lifting control instruction signal when no ground remote pantograph lifting instruction exists and the train meets pantograph lifting conditions.
Remote manual control module: and the control device is used for generating a pantograph lifting control instruction signal when a ground remote pantograph lifting instruction is obtained and the train meets pantograph lifting conditions.
Preferably, the method comprises the following steps: the signal output end of the controller is connected with a signal output unit, the signal output unit comprises a first control signal output module and a second control signal output module which are connected in series, the first control signal output module is a first DO point, the second control signal output module is a second DO point, the controller generates opening and closing control signals of the first DO point and the second DO point, and the series output end of the first DO point and the second DO point is connected with the pantograph-ascending electromagnetic valve.
Compared with the prior art, the invention has the advantages and positive effects that:
the method and the system are based on full-automatic operation control, are suitable for a pantograph lifting control method of a full-automatic operation train, aim at the characteristic of unmanned operation, control pantograph lifting through a network, can increase redundancy from a software level, realize fusion of various pantograph lifting control strategies, and improve the reliability of pantograph lifting control.
Drawings
Fig. 1 is a schematic diagram of an adaptive control process of a pantograph-catenary of the pantograph according to the present invention;
fig. 2 is a schematic diagram of a cross-network path simulation structure.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
The invention provides a pantograph lifting control method and a pantograph lifting control method, which can be used for automatic pantograph lifting control of an automatic driving vehicle.
The pantograph lifting control method comprises an automatic control mode and a manual control mode, wherein the automatic control mode is used for pantograph lifting control when a vehicle runs in an automatic driving mode; the manual control mode is used for pantograph lifting control of the vehicle running in the manual driving mode.
The vehicle control system selects a control method according to the running state of the vehicle, and specifically the control method comprises the following steps:
judging whether the vehicle is in an automatic driving mode or not;
if so, generating a pantograph lifting control instruction signal by adopting an automatic control mode;
if not, a manual control mode is adopted to generate a pantograph lifting control instruction signal.
Furthermore, the automatic driving modes are further divided, and the automatic control modes comprise a full-automatic unmanned control mode and a remote manual control mode. The automatic control mode is used for generating a pantograph lifting control command by the vehicle, and the remote manual control mode is used for remote pantograph lifting control of the ground-facing vehicle.
Hereinafter, specific operation of the various control modes will be described in detail.
(1) Full-automatic unmanned control mode
In summary, in the full-automatic unattended control mode (all FAM mode switch signals are FAM mode bits), the method for generating the pantograph raising control command signal is as follows:
when the train is in an awakening working condition, judging whether the vehicle has a pantograph rising allowable signal, wherein the pantograph rising allowable signal is generated according to the air pressure of a main air pipe of the pantograph, and if the air pressure of the main air pipe is low, the pantograph rising allowable condition is not met, and a normal pantograph rising allowable signal cannot be generated;
if yes, automatically generating a pantograph lifting control instruction signal;
if not, outputting a hard wire emergency pantograph lifting control instruction signal, controlling the pantograph air pump to be opened until the air pressure meets the pantograph lifting allowance condition, and then automatically generating a pantograph lifting control instruction signal.
Specifically, it is first necessary to ensure that the vehicle is in the wake-up publication and that there is a power-up requirement. A train network control and monitoring system (TCMS for short) detects the power-on demand signal. The power-on demand signal can be set according to the control demands of different signal system manufacturers, and can be as follows: an automatic driving preparation mode signal or a high-voltage test instruction signal and the like, and a power-on demand signal is used as a precondition for pantograph-lifting control.
Further, in the case that the advance condition of raising the bow is satisfied, the train TCMS system further determines whether the following allowable condition of raising the bow is satisfied:
all the pantographs have no ADD pantograph lowering signal.
And secondly, isolating switches (IES) in all the high-voltage distribution boxes are at the pantograph position. The IES is a device related to the pantograph, and is divided into a plurality of positions including a pantograph position, a grounding position and the like, and if the IES is not in the pantograph position, the pantograph is not allowed to rise.
And thirdly, the CAM mode/standby mode is not acquired at both ends of the head and tail vehicle. Specifically, the CAM mode is a creep mode, a mode that is entered after a TCMS failure, and both mode signals are hard wired out by the vehicle, similar to the standby mode.
And fourthly, the vehicle has zero speed. In consideration of the safety of the pantograph lifting, the pantograph lifting command can be executed in a static state of the train.
Fifthly, enabling the pantograph lifting of the single vehicle to be signaled, and enabling the pantograph of the single vehicle not to be lifted in place.
The pantograph lifting allowing signal mainly aims at the pantograph which needs to be lifted by means of air pressure, when a train sleeps for a long time or a main air pipe leaks air, the train can be waken up, the train is in an emergency situation of 'electrified and airless', the pantograph lifting allowing signal does not exist in the whole train at the moment, under the situation, after all conditions are met, the TCMS outputs an emergency pantograph lifting instruction hard wire signal, the signal can drive the electric pump to blow air, after the air pressure is met, the pantograph lifting allowing conditions are met, and the TCMS controls the pantograph lifting of each pantograph according to a normal full-automatic pantograph lifting strategy.
When the above conditions are satisfied, a pantograph raising control command signal, specifically, a pulse wave applied to the pantograph raising solenoid valve is generated to realize pantograph raising control.
(2) Remote manual control mode
Under the remote manual control mode, the method for generating the pantograph lifting control instruction signal comprises the following steps:
sending a bow lifting instruction through a ground control end;
and after receiving the pantograph lifting command, the vehicle end further judges the pantograph lifting condition and generates a pantograph lifting control command signal under the condition of meeting the pantograph lifting condition.
Specifically, wireless communication networks are constructed on the train and under the train, and the train can receive control signals under the train. The vehicle dispatching is provided with a pantograph lifting selection knob through the expert workstation, and after the vehicle dispatching is adjusted, the pantograph lifting selection knob is pressed. Different from the local pantograph lifting, the pantograph lifting instruction is sent to the train by the expert workstation through an LTE train-ground channel, and after the TCMS receives the instruction and judges that all the following conditions are met, a pantograph lifting instruction hard wire signal is output.
Wherein the judgment of pantograph rising condition includes but is not limited to:
all the pantographs have no ADD pantograph lowering signal.
And secondly, isolating switches (IES) in all the high-voltage distribution boxes are at the pantograph position.
And thirdly, the CAM mode/standby mode is not acquired at both ends of the head and tail vehicle. I.e. the train network system is not faulty.
And fourthly, the vehicle has zero speed.
Compared with a full-automatic unmanned control mode, the remote manual mode is that a user manually sends an instruction to a vehicle through a central controller, and needs a certain degree of participation of the user. Personnel at the ground control center will manually confirm the pantograph raising permission signal and the pantograph raising in-position signal.
(3) And (4) manual control mode.
Local artificial arch lifting: in a non-full-automatic driving mode, after the cab is activated and the pantograph lifting condition is met, after the operator finishes adjusting the pantograph lifting selection button, the operator presses the pantograph lifting button, and the hard wire command is directly acted on the pantograph lifting battery valve to finish pantograph lifting control.
The invention further provides a pantograph lifting control system which can realize the control method and can be configured on unmanned vehicles such as trains or electric trains and the like which adopt pantograph to take power.
A pantograph lifting control system comprises a controller, and the controller can directly adopt a train network, namely a monitoring control system, or can be independently configured. The control signal output end of the controller is connected with the pantograph lifting execution control mechanism, specifically connected with a pantograph lifting electromagnetic valve of the pantograph, so as to output a control pulse signal to the pantograph lifting electromagnetic valve and realize pantograph lifting control. The controller includes:
an automatic control unit: the automatic pantograph lifting control system is used for automatically generating pantograph lifting control command signals when the vehicle is in an automatic driving mode;
a manual control unit: and the control device is used for receiving the pantograph lifting control key instruction and generating a pantograph lifting control instruction signal when the vehicle is in a manual driving mode.
As a further optimization, the controller is internally preset with a judgment rule of the pantograph lifting condition, which refers to the rule mentioned above, and the controller outputs a feedback signal of the corresponding detection mechanism and a signal state corresponding to the pantograph lifting condition rule of the mobile phone. The automatic control unit further comprises:
full-automatic unmanned control module: the system is used for generating a pantograph lifting control instruction signal when no ground remote pantograph lifting instruction exists and the train meets pantograph lifting conditions.
Remote manual control module: and the control device is used for generating a pantograph lifting control instruction signal when a ground remote pantograph lifting instruction is obtained and the train meets pantograph lifting conditions.
In addition, abnormal pantograph lifting is caused in the case of an abnormal signal, equipment failure, or the like in the pantograph lifting control system. In order to reduce the fault rate of abnormal bowing, the invention also provides a signal output structure with DO points connected in series, which is different from the prior art. The signal output terminal of the controller is connected with a signal output unit, the signal output unit comprises a first control signal output module (DO1 signal output point) and a second control signal output module (DO2 signal output point) which are connected in series, and the controller output signal is used for controlling the switch states of DO1 and DO 2.
With particular reference to fig. 2. The pantograph lifting allowable signal is from a hard-wire signal (including the pantograph lifting allowable signal), and when the pantograph lifting control condition is met through logic calculation, the TCMS pantograph lifting instruction is realized by connecting DO points in two different input/output modules in series, so that the reliability is improved compared with single-point control, the abnormal pantograph lifting caused by current spike interference in a vehicle circuit can be effectively avoided, and the abnormal pantograph lifting caused by abnormal closing fault or adhesion of a single input/output module of the TCMS can be avoided. The DO point of TCMS has a failure rate of 10 according to SIL2 level requirements-6For example, the probability of DO point clamping and card scoring is 10-6。
The probabilities of failing to raise the arch due to engagement and abnormal arch raising due to engagement in the two DO configurations are as follows.
It can be seen that the two DO points are connected in series to reduce the probability of abnormal bowing by exponential power, and although the probability of failure to bow is 2 times that of a single DO, the probability is 10-6Is not increased too much, and from the perspective of guidance safety, it is a right practice to greatly reduce the probability of abnormal pantograph lifting, which greatly reduces the probability of abnormal pantograph lifting while minimizing the complexity of vehicle hardwiring.
The pantograph lifting control system and the control method provided by the invention can be used for automatic pantograph lifting control of a full-automatic unmanned vehicle. The control system has higher reliability and intelligence as a whole by adopting the redundancy design of a plurality of control modes.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (7)
1. A pantograph lifting control method is characterized by comprising an automatic control mode and a manual control mode, and the control method comprises the following steps:
judging whether the vehicle is in an automatic driving mode or not;
if so, generating a pantograph lifting control instruction signal by adopting an automatic control mode;
if not, generating a pantograph lifting control instruction signal by adopting a manual control mode;
further, the automatic control mode comprises a full-automatic unmanned control mode, and in the automatic control mode, when the train is in an awakening working condition, a vehicle pantograph rising permission signal is generated according to the air pressure of a main air pipe of a vehicle pantograph;
the method of generating the pantograph permission signal further comprises:
if the air pressure meets the bow-lifting condition, automatically generating a bow-lifting control instruction signal;
if the air pressure does not meet the pantograph lifting condition, outputting a hard wire emergency pantograph lifting control instruction signal to control the pantograph air pump to be opened, and automatically generating a pantograph lifting control instruction signal until the air pressure meets the pantograph lifting condition.
2. The pantograph lifting control method of claim 1, wherein the automatic control mode further comprises a remote manual control mode.
3. The pantograph up-bow control method of claim 1, wherein in the fully automatic unattended control mode, the method of generating the up-bow control signal further comprises the steps of:
before automatically generating an arch lifting control instruction signal or outputting a hard-wire emergency arch lifting control instruction signal, further performing arch lifting condition judgment, and generating an arch lifting control instruction signal under the condition that the arch lifting condition is met, wherein the arch lifting condition judgment comprises but is not limited to:
the pantograph has no pantograph lowering signal;
the isolation switches in the high-voltage distribution box are all positioned at the pantograph;
the train network control system has no fault;
the vehicle speed is zero.
4. The pantograph lifting control method according to claim 2, wherein in the remote manual control mode, the pantograph lifting control command signal is generated by:
sending a bow lifting instruction through a ground control end;
after receiving the pantograph lifting instruction, the vehicle further performs pantograph lifting condition judgment, and generates a pantograph lifting control instruction signal when the pantograph lifting condition is met, wherein the pantograph lifting condition judgment includes but is not limited to: the pantograph has no pantograph lowering signal;
the isolation switches in the high-voltage distribution box are all positioned at the pantograph;
the train network control system has no fault;
the vehicle speed is zero.
5. A pantograph lifting control system is characterized by comprising a controller, wherein a control signal output end of the controller is connected with a pantograph lifting execution control mechanism, and the controller comprises:
an automatic control unit: the automatic control system is used for generating a pantograph rising control instruction signal when the vehicle is in an automatic driving mode;
a manual control unit: the pantograph lifting control key is used for receiving a pantograph lifting control key instruction and generating a pantograph lifting control instruction signal when the vehicle is in a manual driving mode;
the automatic control unit comprises a full-automatic unmanned control module: when the train is configured to be in an awakening working condition, generating a vehicle pantograph rising permission signal according to the air pressure of a main air pipe of a vehicle pantograph; if the air pressure does not meet the pantograph lifting condition, outputting a hard wire emergency pantograph lifting control instruction signal to control the pantograph air pump to be opened, and automatically generating a pantograph lifting control instruction signal until the air pressure meets the pantograph lifting condition.
6. The pantograph control system of claim 5, wherein the automatic control unit comprises:
remote manual control module: the system comprises a control system, a control system and a control system, wherein the control system is used for acquiring a ground remote pantograph lifting instruction and generating a pantograph lifting control instruction signal when a train meets pantograph lifting conditions;
the fully automatic unmanned control module is further configured to generate a pantograph lifting control command signal when there is no ground remote pantograph lifting command and the train meets a pantograph lifting condition.
7. The pantograph control system of claim 6, wherein the signal output terminal of the controller is connected to a signal output unit, the signal output unit comprises a first control signal output module and a second control signal output module connected in series, the first control signal output module is a first DO point, the second control signal output module is a second DO point, the controller generates the opening and closing control signals of the first DO point and the second DO point, and the series output terminal of the first DO point and the second DO point is connected to the pantograph solenoid valve.
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| CN111532138B (en) * | 2020-05-08 | 2021-12-24 | 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 |
| 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 |
| CN113696739B (en) * | 2020-05-22 | 2023-06-23 | 株洲中车时代电气股份有限公司 | Pantograph selection control method and system |
| CN111619358B (en) * | 2020-06-02 | 2021-11-05 | 中车青岛四方车辆研究所有限公司 | Automatic pantograph control method |
| CN113829900B (en) * | 2020-06-24 | 2023-04-07 | 比亚迪股份有限公司 | Train, train power-off control method and equipment |
| 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 |
| 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 |
| CN112659904B (en) * | 2021-01-18 | 2023-05-12 | 中车青岛四方机车车辆股份有限公司 | Rail train pantograph control method, device, storage medium and computer equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101353018B (en) * | 2007-07-24 | 2010-08-25 | 巫宗进 | Pure electric automobile |
| CN101746273A (en) * | 2010-01-14 | 2010-06-23 | 南车株洲电力机车有限公司 | Electric air supply device for emergent lift of urban rail vehicle and control method corresponding to same |
| CN103481783A (en) * | 2013-09-25 | 2014-01-01 | 长春轨道客车股份有限公司 | Method for controlling high-voltage system of motor train unit |
| JP6527335B2 (en) * | 2015-01-14 | 2019-06-05 | 本田技研工業株式会社 | Autonomous driving vehicle |
| CN106627161A (en) * | 2016-11-24 | 2017-05-10 | 汤广武 | Electric automobile driving charging system |
| CN106828203B (en) * | 2017-03-07 | 2019-01-25 | 朱幕松 | Unmanned bus |
| CN107804193A (en) * | 2017-11-15 | 2018-03-16 | 朱幕松 | Automatic Pilot electric car of public traffic |
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Effective date of registration: 20210802 Address after: No. 231, Ruichang Road, North District, Qingdao, Shandong Patentee after: CRRC QINGDAO SIFANG ROLLING STOCK RESEARCH INSTITUTE Co.,Ltd. Patentee after: Tianjin CRRC sifangsuo Technology Co.,Ltd. Address before: No. 231, Ruichang Road, North District, Qingdao, Shandong Patentee before: CRRC QINGDAO SIFANG ROLLING STOCK RESEARCH INSTITUTE Co.,Ltd. |
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