CN114872759B - Rail transit vehicle and automatic turning-back control method and system thereof - Google Patents
Rail transit vehicle and automatic turning-back control method and system thereof Download PDFInfo
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- CN114872759B CN114872759B CN202210466618.1A CN202210466618A CN114872759B CN 114872759 B CN114872759 B CN 114872759B CN 202210466618 A CN202210466618 A CN 202210466618A CN 114872759 B CN114872759 B CN 114872759B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000011664 signaling Effects 0.000 claims description 5
- 230000003213 activating effect Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000026676 system process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/22—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in two directions over the same pair of rails
- B61L23/26—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in two directions over the same pair of rails with means for actuating signals from the vehicle or by passage of the vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a rail transit vehicle, an automatic turn-back control method and a control system thereof, wherein a train TCMS (train TCMS) and a signal system work cooperatively, the TCMS directly uses an AR enabling signal of a vehicle-mounted signal system to replace a cab occupation signal, cab occupation and direction information given by the signal system is not required to be acquired again, and turn-back time is reduced. Under the stationary working condition, the functions of automatically changing ends and switching operation lines of the vehicle are realized, the operation safety and reliability of the vehicle are improved, the working strength of a driver is also reduced, the operation efficiency of the train is improved, and the practicability is high.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a rail transit vehicle, an automatic turning-back control method and an automatic turning-back control system thereof.
Background
At present, subway vehicles at home and abroad basically have basic automatic driving functions, and the automatic driving functions of acceleration, cruising, decelerating, accurate stopping and automatic turning back of the train can be realized, and the functions can ensure the safety and reliability of vehicle operation. The metro vehicle mostly realizes ATO traction, ATO braking and automatic turning-back functions through a hard wire circuit, but the tramcar is realized by adopting a network interface for data transmission between a train TCMS system and a signal system due to the characteristics of small space of the vehicle, high manufacturing cost, high hard wire circuit arrangement difficulty and the like.
CN111959560B proposes three different automatic turn-back control methods, wherein two schemes need to be controlled by hard wires, the automatic turn-back function without hard wires cannot be realized, and the three modes also need to additionally collect cab activation and direction information of a vehicle-mounted signal system by a TCMS system. Although the method based on AR network protocol information control is also an automatic turn-back control method based on a network interface, how the TCMS system processes when the cabs at two ends operate the AR soft buttons simultaneously is not considered, so that potential safety hazards exist, and a driver is still required to operate the AR soft buttons at an HMI to influence the turn-back efficiency of a train.
Disclosure of Invention
The invention aims to solve the technical problems of providing a rail transit vehicle, an automatic turning-back control method and a control system thereof aiming at the defects of the prior art,
in order to solve the technical problems, the invention adopts the following technical scheme: an automatic turn-back control method for a rail transit vehicle comprises the following steps:
s1, a signal system judges whether a vehicle is in an automatic turn-back mode or not, if so, S2 is entered; otherwise, entering S4;
s2, judging whether the following conditions are met: the signal system and the TCMS system are normal, and the signal system and the TCMS system are normal in communication; if yes, the signal system sends an ATO traction instruction and an ATO braking instruction, the TCMS system respectively sends the ATO traction instruction and the ATO braking instruction to the vehicle traction system and the braking system to control the vehicle to run to a turning-back track, and the vehicle starts turning back and enters S3; otherwise, an automatic turn-back failure instruction is sent out, and S4 is entered;
s3, the TCMS judges whether automatic turning-back is finished or not, if yes, the S4 is entered; otherwise, the automatic turning-back fails and S4 is entered;
s4, ending.
When the data transmission between the train TCMS system and the signal system adopts a pure network interface, the train transmits control signals by using a train communication network, and the automatic turn-back control function is realized. The invention does not need to transmit signals by means of a hard wire circuit or operate an AR soft button by a driver in the HMI, so that the invention can be applied to automatic turning-back of a tramcar and has high turning-back efficiency of the train. In the invention, the train TCMS system and the signal system work cooperatively, the TCMS system directly uses the AR enabling signal of the vehicle-mounted signal system to replace the cab activating signal, and cab activating and direction information given by the signal system is not required to be acquired again, so that the turn-back time is reduced. The invention can realize the functions of automatically changing ends and switching running lines of the train under the static working condition, improves the safety and reliability of the operation of the train, reduces the working strength of drivers, improves the operation efficiency of the train and has strong practicability.
The specific implementation process for judging whether the vehicle is in the automatic turn-back mode comprises the following steps:
if one end of the vehicle activates the AR enabling signal and the other end does not activate the AR enabling signal, judging that one end activated by the AR enabling signal is an occupied end;
the occupation end sends an ATO vehicle control effective command to the vehicle-mounted ATC equipment, namely, the vehicle is judged to be in an automatic turn-back mode;
or,
if the AR enabling signals are activated at two ends of the vehicle, one end of the AR enabling signals which are activated first is set as a cab occupying end, and the occupying end sends ATO control vehicle effective feedback to a signal system.
In the invention, in order to improve the turning-back safety, the vehicle realizes the automatic turning-back function, in the automatic turning-back process, the TCMS system feeds back an ATO control command to the signal system, and the signal system considers that the vehicle is still in an ATO control state after receiving the effective command feedback of the ATO control, so as to continuously complete the automatic turning-back control function.
The process for acquiring the ATO traction instruction comprises the following steps:
and when the ATO traction command, the ATO traction command valid bit, the ATO control command valid bit and the ATO level command are all valid, and the ATO braking command is invalid, obtaining an ATO traction command.
The invention comprehensively judges the network ATO traction instruction from the signal system, thereby improving the safety and reliability of the traction instruction.
The process for acquiring the ATO braking instruction comprises the following steps:
and when the ATO braking command, the ATO braking command valid bit, the ATO vehicle control command valid bit and the ATO level command are valid, obtaining an ATO braking command.
The invention comprehensively judges the network ATO braking instruction from the signal system, thereby improving the safety and reliability of the braking instruction.
In the invention, the TCMS system sends the automatic turn-back failure signal to the cab, so as to remind a driver of automatic turn-back failure.
The implementation process for judging whether the automatic turning-back is finished comprises the following steps:
when the signal systems at two ends of the vehicle output AR signals to activate corresponding cabs, the TCMS system feeds back ATO control effective signals of the signal systems to the signal systems, and the automatic turn-back control function is completed.
In the invention, a signal system (such as ATC equipment) at one end needing to turn back activates an AR enabling signal firstly, when the other end also activates the AR enabling signal, the TCMS ensures that one end of the AR which is activated firstly is an actual occupied end, and simultaneously feeds back a control vehicle signal of the signal system to finish automatic turn-back.
The invention also provides a rail transit vehicle control system, which comprises a signal system and a TCMS system; the signal system is coupled to the TCMS system and the signal system and TCMS system are configured to cooperate to implement the steps of the above-described method of the present invention.
The invention also provides a rail transit vehicle, which adopts the control system.
Compared with the prior art, the invention has the following beneficial effects:
1. the train TCMS system and the signal system work cooperatively, the TCMS system directly uses the AR enabling signal of the vehicle-mounted signal system to replace the cab activating signal, cab activating and direction information given by the signal system is not required to be acquired again, and the turn-back time is reduced;
2. the invention improves the safety and reliability of the operation of the vehicle, shortens the turn-back time of the vehicle, reduces the working strength of drivers, improves the operation efficiency of the train and has strong practicability.
Drawings
FIG. 1 is a flow chart of an embodiment of the invention for automatically turning back a vehicle;
FIG. 2 is a logic diagram of an embodiment of the invention for automatically returning AR enable signal;
FIG. 3 is a logic diagram of ATO braking and traction command determination according to an embodiment of the present invention.
Detailed Description
In one implementation of the invention, as shown in fig. 1, the vehicle is controlled by a signaling system and the vehicle is operated in an automatic fold-back mode.
(1) The signal system judges whether the vehicle is in an automatic turn-back mode, if so, the step (2) is executed, and if not, the step (6) is executed;
(2) If the vehicle-mounted ATC equipment and the TCMS system are normal and the communication of the vehicle-mounted ATC equipment and the TCMS system is normal, executing the step (2); otherwise, the automatic turning back cannot be completed, and the step (5) is executed;
(3) The vehicle normally runs, ATC equipment sends out an ATO traction instruction and an ATO braking instruction, the TCMS system forwards the ATO traction/braking instruction to a traction system and a braking system, the vehicle is controlled to run to a turning track, and step (4) is executed;
(4) The ATC equipment and the TCMS execute automatic turn-back logic;
(5) If the automatic turning-back is completed, executing the step (6); if the automatic folding is not completed, giving an automatic folding failure prompt, and executing the step (6).
(6) Ending;
in the step (3), the execution of the auto-foldback logic by the TCMS system means: after the TCMS system transmits an ATO traction instruction and an ATO braking instruction to the vehicle traction system and the braking system respectively, the traction system tows the vehicle to a turning-back track, the vehicle starts turning back, a signal system (such as ATC equipment) at one end needing to turn back activates an AR enabling signal firstly, when the AR enabling signal is also activated at the other end, the TCMS ensures that one end of the AR activated firstly is an actual occupied end, and meanwhile, a control vehicle signal of the signal system is fed back to the signal system to complete automatic turning back.
The vehicle realizes the automatic turning-back function, in the automatic turning-back process, the TCMS system feeds back the ATO control command to the signal system, and after receiving the effective command feedback of the ATO control, the signal system considers that the vehicle is still in the ATO control state, so that the automatic turning-back control function can be continuously completed. In one implementation of the present invention, the automatic turn-back AR enable signal determination logic is shown in FIG. 2.
In fig. 2, the following manner may be adopted to determine whether the vehicle is in the automatic return mode:
if the AR enabling signal is activated at the end 1 of the vehicle and the AR enabling signal is not activated at the end 2, judging that the end 1 is an occupied end; the occupying end (1 end) sends ATO control vehicle effective feedback to the signal system, namely, judges that the vehicle is in an automatic turn-back mode.
If the AR enabling signal is activated at the end 2 of the vehicle and the AR enabling signal is not activated at the end 1, judging that the end 2 is an occupied end; the occupying end (2 ends) sends ATO control vehicle effective feedback to the signal system, namely, judges that the vehicle is in an automatic turn-back mode.
If the AR enabling signal is activated at the 1 end and the AR enabling signal is activated at the 2 end, setting one end of the AR enabling signal which is activated first as a cab occupation end; the occupancy terminal sends ATO control vehicle effective feedback to the signal system.
Vehicle occupancy may be achieved by an AR enable (auto-return enable) signal output by a cab key or signal system. When the AR enable signal realizes the vehicle occupancy, the TCMS system controls one end of the AR to be activated first as the actual occupancy end. In the automatic turning-back process of the signal system, the AR enabling signal is used as a cab occupation signal, so that the TCMS system can still receive an ATO car control effective command of the signal system (ATC equipment, namely an automatic train control system) and feed the signal back to the signal system to control the car to complete an automatic turning-back function. After the vehicle runs to the terminal station and is stopped, the ATC equipment at the side needing to change the terminal firstly outputs an AR enabling signal, activates the cab occupancy at the terminal and defaults the running direction of the vehicle to the front. After receiving the signal, the ground control center communicates with the ATC equipment of the cab at the other end, and at the moment, the ATC equipment at the other end also outputs an AR enabling signal to activate the cab at the local end to occupy, so that the running direction of the vehicle is forward by default. During the period that both ends ATC equipment output AR signals to activate cab occupation, the TCMS system feeds back ATO control effective signals to ATC to control the vehicle to complete an automatic turn-back control function.
As shown in fig. 3, in one implementation mode of the invention, the vehicle realizes the functions of ATO traction and ATO braking, the signal system transmits relevant commands of ATO traction and ATO braking to the TCMS system through the train communication network, and the TCMS system forwards traction and braking commands to the traction system and the braking system to complete traction and braking control of the vehicle. To ensure the safety and reliability of ATO traction and ATO braking instructions, the TCMS system comprehensively judges the command of the signal system, and the judgment logic of the ATO braking instruction and the ATO traction instruction of the vehicle is shown in figure 3.
When the ATO activation command is effective, the TCMS system adopts the train control data of the signal system received from the train communication network, and then forwards the ATO braking command and the ATO traction command after comprehensive judgment to the braking system and the traction system to complete the functions of vehicle traction and braking control.
Specifically, the process of acquiring the ATO traction instruction includes: and performing logic AND operation on the ATO traction command, the ATO traction command valid bit, the ATO control command valid bit, the ATO level command and the ATO braking command, and if the result of the logic AND operation is 1 (namely, the ATO traction command valid bit, the ATO control command valid bit and the ATO level command are all valid, and the ATO braking command is invalid), obtaining the ATO traction command.
The process for acquiring the ATO braking instruction comprises the following steps: and performing logic AND operation on the ATO braking command, the ATO braking command valid bit, the ATO vehicle control command valid bit and the ATO level command, and obtaining the ATO braking command if the result of the logic AND operation is 1 (namely, the ATO braking command valid bit, the ATO vehicle control command valid bit and the ATO level command are all valid).
In the present invention, the ATO traction command is either 0 (i.e., the tcom system does not receive an ATO traction command) or 1 (i.e., the TCMS system receives an ATO traction command). Correspondingly, the ATO traction command valid bit is either 0 (when the ATO traction command is 0) or 1 (when the ATO traction command is 1).
In the invention, the ATO control command is 0 (i.e. the signal system does not receive the ATO control effective command) or 1 (i.e. the signal system receives the ATO control effective command). Correspondingly, the ATO control command valid bit is 0 (when the ATO control command is 0) or 1 (when the ATO control command is 1).
In the present invention, the ATO brake command is either 0 (i.e., the tcom system does not receive an ATO brake command) or 1 (i.e., the TCMS system receives an ATO brake command). Correspondingly, the ATO brake command valid bit is either 0 (when the ATO brake command is 0) or 1 (when the ATO brake command is 1). The ATO traction command, the ATO traction command valid bit, the ATO control vehicle command valid bit, the ATO level command and the ATO braking command invalid command are all sent by a signal system.
In one implementation of the invention, the train control system includes a signaling system and a TCMS system. The signaling system communicates with the TCMS system. The signaling system and TCMS system are configured to cooperate to implement the steps of the methods of the above-described embodiments of the present invention.
Claims (8)
1. The automatic turning-back control method for the rail transit vehicle is characterized by comprising the following steps of:
s1, a signal system judges whether a vehicle is in an automatic turn-back mode or not, if so, S2 is entered; otherwise, entering S4;
s2, judging whether the following conditions are met: the signal system and the TCMS system are normal, and the signal system and the TCMS system are normal in communication; if yes, transmitting an ATO traction instruction and an ATO braking instruction to a TCMS (train control system) through a train communication network by the signal system, respectively transmitting the ATO traction instruction and the ATO braking instruction to a vehicle traction system and a braking system by the TCMS system, controlling the vehicle to run to a turning-back track, turning back the vehicle, and entering S3; otherwise, an automatic turn-back failure instruction is sent out, and S4 is entered;
s3, the TCMS judges whether automatic turning-back is finished or not, if yes, the S4 is entered; otherwise, the automatic turning-back fails and S4 is entered;
s4, ending;
the specific implementation process for judging whether the vehicle is in the automatic turn-back mode comprises the following steps:
if one end of the vehicle activates the AR enabling signal and the other end does not activate the AR enabling signal, judging that one end activated by the AR enabling signal is an occupied end;
the occupation end sends an ATO control effective command to the signal system, namely, the vehicle is judged to be in an automatic turn-back mode;
or,
if both ends of the vehicle activate AR enabling signals, setting one end of the AR enabling signals activated first as a cab occupying end, and sending ATO (automatic train control) effective feedback to a signal system by the occupying end;
wherein the AR enable signal is output by the signaling system.
2. The automatic turn-back control method of a rail transit vehicle according to claim 1, wherein the acquisition process of the ATO traction command includes:
and when the ATO traction command, the ATO traction command valid bit, the ATO control command valid bit and the ATO level command are all valid, and the ATO braking command is invalid, obtaining an ATO traction command.
3. The automatic turn-back control method of a rail transit vehicle according to claim 1, wherein the acquisition process of the ATO braking command includes:
and when the ATO braking command, the ATO braking command valid bit, the ATO vehicle control command valid bit and the ATO level command are valid, obtaining an ATO braking command.
4. The method of automatic turn-back control of rail transit vehicles according to claim 1, wherein the TCMS system transmits an automatic turn-back failure signal to a cab.
5. The automatic turn-back control method of a rail transit vehicle according to claim 1, wherein the implementation process of judging whether the automatic turn-back is completed includes:
when the signal systems at two ends of the vehicle output AR signals to activate corresponding cabs, the TCMS system feeds back the ATO control effective commands of the signal systems to the signal systems, and the automatic turn-back control function is completed.
6. The automatic turn-back control method of a rail transit vehicle according to any one of claims 1 to 5, wherein the signal system is an ATC apparatus.
7. A rail transit vehicle control system, comprising a signal system and a TCMS system; the signal system is coupled to a TCMS system and the signal system and TCMS system are configured to cooperate to implement the steps of the method of one of claims 1 to 6.
8. A rail transit vehicle characterized in that it employs the control system of claim 7.
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