CN114932889A - Hybrid braking system and method for straddle type monorail vehicle - Google Patents
Hybrid braking system and method for straddle type monorail vehicle Download PDFInfo
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- CN114932889A CN114932889A CN202111395843.2A CN202111395843A CN114932889A CN 114932889 A CN114932889 A CN 114932889A CN 202111395843 A CN202111395843 A CN 202111395843A CN 114932889 A CN114932889 A CN 114932889A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012544 monitoring process Methods 0.000 claims abstract description 52
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000012360 testing method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3235—Systems specially adapted for rail vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a hybrid braking system and method for a straddle-type monorail vehicle. The hybrid braking system comprises a state monitoring module, a first control module, a second control module and a traction-braking system; the state monitoring module comprises a state monitoring data receiving module, a state monitoring data processing module and a state monitoring data judging and outputting module; the state monitoring data receiving module is used for receiving the TCL handle brake level information and the vehicle real-time running speed information; the state monitoring data processing module is used for calculating target required deceleration and actual deceleration of the train, and the state monitoring data judgment output module is used for comparing the target required deceleration with the actual deceleration value of the train and adjusting a braking instruction signal according to a judgment result so as to output a PWM duty ratio electric signal to the traction-braking system through the first control module or the second control module. Therefore, the invention can control the vehicle to quickly reach the specified deceleration.
Description
Technical Field
The invention relates to a hybrid braking system and a hybrid braking method, which are mainly applied to a straddle type monorail vehicle.
Background
At present, the braking system of the monorail vehicle has two braking modes: electric braking and friction braking. However, in the full/semi-manual mode, no fixed module is used for calculating and distributing the braking force, the driver can only judge whether the braking force is sufficient or not, the requirement on the driving of the driver is high, and in the full-automatic driving operation mode, the braking distribution is calculated by a signal system.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a straddle type monorail vehicle hybrid brake system to ensure accurate parking by a station and passenger comfort, and simultaneously meet the requirement that a monorail vehicle meets the brake performance standard of domestic railway vehicles.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a straddle-type monorail vehicle hybrid brake system comprises a state monitoring module, a first control module, a second control module and a traction-brake system, wherein:
the state monitoring module comprises a state monitoring data receiving module, a state monitoring data processing module and a state monitoring data judging and outputting module;
the state monitoring data receiving module is used for receiving the TCL handle braking level information and the vehicle real-time running speed information and transmitting the received TCL handle braking level information and the vehicle real-time running speed information to the state monitoring data processing module;
the state monitoring data processing module is used for calculating the target required deceleration required by the current TCL handle brake level information and the actual deceleration of the train for primary braking at present, and transmitting the calculated target required deceleration and the actual deceleration of the train to the state monitoring data judgment output module;
the state monitoring data judgment output module is used for comparing the target required deceleration with the actual deceleration value of the train and adjusting a braking instruction signal according to the judgment result so as to output a PWM duty ratio electric signal to the traction-braking system through the first control module or the second control module;
when the state monitoring data judgment output module outputs a PWM duty ratio electric signal to the traction-braking system through the first control module, the traction-braking system starts a first braking mode;
and when the state monitoring data judgment output module outputs the PWM duty ratio electric signal to the traction-braking system through the second control module, the traction-braking system starts a second braking mode.
Preferably, the real-time running speed information of the vehicle is detected and fed back through a speed sensor installed on the vehicle.
Preferably, the first braking mode mainly uses electric braking and secondarily uses friction braking to decelerate the train; and in the first braking mode, the friction braking is started when the braking force provided by the electric braking is not satisfied with the requirement.
Preferably, the second braking mode is suitable for a low-speed running mode or an electric braking failure mode of the train; when the train is in a low-speed running mode, the train is decelerated by mainly using friction braking and by using electric braking, and meanwhile, the braking force provided by the friction braking is gradually increased in the process until the electric braking is completely faded out;
the second braking mode applies friction braking to control train deceleration when electric braking fails.
Preferably, when the train is in the low-speed running mode, the running speed of the train is lower than 7 km/h.
Preferably, the first control module and the second control module are both PID control modules.
Another technical object of the present invention is to provide a hybrid braking method for a straddle-type monorail vehicle, which is implemented based on the hybrid braking system for a straddle-type monorail vehicle, and comprises the following steps:
step one, receiving current TCL handle brake level information and vehicle real-time running speed information;
step two, respectively calculating the target required deceleration and the actual deceleration value of the train
Step 2.1, calculating the required target required deceleration according to the received TCL handle brake level information to obtain an initial braking force;
2.2, calculating the current actual deceleration value of the train according to the received real-time running speed information of the train;
step three, comparing the target required deceleration and the actual deceleration value of the train, and selecting a braking mode matched with the current actual working condition according to the comparison result so as to meet the initial braking force requirement corresponding to the target required deceleration:
in the initial stage of braking, the electric brake is used for decelerating the train, and the friction brake is used as compensation when the electric brake is insufficient;
in the low-speed running stage of the train, the braking force provided by the electric brake can not meet the requirement, and the friction brake is started; in the process, the friction braking force is gradually increased until the electric brake is completely faded out;
and step four, repeating the step 2.2 and the step three until the target required deceleration is reached.
Preferably, in the third step, when the electric brake fails, the braking mode can only select friction braking and is started by the second control module.
Preferably, the real-time running speed information of the vehicle in the step (1) is acquired and fed back through a speed sensor installed on the train.
Preferably, in the third step, when the train is in the low-speed running mode, the running speed of the train is lower than 7 km/h; and when the running speed of the train is close to 2.7km/h, the electric brake fades out completely, and only the friction brake is applied to control the deceleration of the train.
Based on the technical scheme, compared with the prior art, the invention has the following advantages:
the vehicle is controlled to reach the designated deceleration request level by monitoring the vehicle speed and the deceleration and continuously adjusting the deceleration, so that the closed-loop control of the vehicle speed is realized, the feedback signal and the control signal are continuously compared and adjusted, and the vehicle is controlled to quickly reach the designated deceleration.
In the current scheme, a driver is not required to have higher professional driver literacy, the driver can directly excite a vehicle traction braking command through a handle, reasonable operation can be directly carried out according to the requirement of the front braking distance, and the impact is treated.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The relative arrangement of the components and steps, expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
As shown in fig. 1, the hybrid braking system of the straddle-type monorail vehicle comprises a state monitoring module, a first control module, a second control module and a traction-braking system, wherein:
the state monitoring module comprises a state monitoring data receiving module, a state monitoring data processing module and a state monitoring data judging and outputting module;
the state monitoring data receiving module is used for receiving the TCL handle braking level information and the vehicle real-time running speed information and transmitting the received TCL handle braking level information and the vehicle real-time running speed information to the state monitoring data processing module; the real-time running speed information of the vehicle is detected and fed back through a speed sensor installed on the vehicle.
The state monitoring data processing module is used for calculating a target required deceleration required by current TCL handle brake level information and a current train actual deceleration of primary braking, and transmitting the calculated target required deceleration and the calculated train actual deceleration to the state monitoring data judgment output module;
the state monitoring data judgment output module is used for comparing the target required deceleration with the actual deceleration value of the train and adjusting a braking instruction signal according to the judgment result so as to output a PWM duty ratio electric signal to the traction-braking system through the first control module or the second control module; the first control module and the second control module are both PID control modules.
When the state monitoring data judgment output module outputs a PWM duty ratio electric signal to the traction-braking system through the first control module, the traction-braking system starts a first braking mode; the first braking mode mainly uses electric braking and uses friction braking as assistance to decelerate the train; and in the first braking mode, the friction braking is started when the braking force provided by the electric braking does not meet the requirement.
And when the state monitoring data judgment output module outputs the PWM duty ratio electric signal to the traction-braking system through the second control module, the traction-braking system starts a second braking mode. The second braking mode is suitable for a low-speed running mode or an electric braking failure mode of the train; when the train is in a low-speed running mode (the running speed of the train is lower than 7 km/h), the train is decelerated by taking friction braking as a main mode and electric braking as an auxiliary mode, and meanwhile, in the process, the braking force provided by the friction braking is gradually increased until the electric braking is completely faded out (at the moment, the running speed of the train is close to 2.7 km/h); the second braking mode applies friction braking to control train deceleration when electric braking fails.
Preferably, when the train is in the low speed mode of operation.
Preferably, the first and second electrodes are formed of a metal,
based on the hybrid braking system of the straddle type monorail vehicle, the invention provides a hybrid braking method of the straddle type monorail vehicle, which comprises the following steps:
step one, receiving current TCL handle brake level information and vehicle real-time running speed information; the real-time running speed information of the vehicle is collected and fed back through a speed sensor arranged on the train;
step two, respectively calculating the target demand deceleration and the actual deceleration value of the train
Step 2.1, calculating the required target required deceleration according to the received TCL handle brake level information to obtain an initial braking force;
2.2, calculating the current actual deceleration value of the train according to the received real-time running speed information of the train;
step three, comparing the target required deceleration and the actual deceleration value of the train, and selecting a braking mode matched with the current actual working condition according to the comparison result so as to meet the initial braking force requirement corresponding to the target required deceleration:
in the initial stage of braking, the electric brake is used for decelerating the train, and when the electric brake is insufficient, the friction brake is used as compensation;
in a low-speed running stage of the train (the running speed of the train is lower than 7 km/h), the braking force provided by electric braking can not meet the requirement, and friction braking is started; in the process, the friction braking force is gradually increased until the electric brake completely fades out (at the moment, the running speed of the train is close to 2.7 km/h);
when the electric brake fails, the braking mode can only select friction braking and is started through the second control module.
And step four, repeating the step 2.2 and the step three until the target required deceleration is reached.
The principle is as follows:
the hybrid braking system of the straddle type monorail vehicle is completed by matching two control modules and a state monitoring module in a logic control unit, and the state monitoring module selects a PID control module which meets the working condition according to the running condition of a train.
The method comprises the following steps:
1. a first control module: the train is decelerated to a target deceleration by applying both electric and friction brakes, which are applied only when the electric brakes are full and insufficient.
2. A second control module: the train is slowed only by the friction brakes and the electric brakes are relaxed and not applied.
3. A state monitoring module: handle dynamic position and train speed are monitored.
Each controller (first, second control module) in the manual logic control module is a standard PID controller, and each controller has two inputs: handle position, process variables (speed and deceleration). The speed is used as an input for the deceleration calculation and the real-time deceleration is used as an input for comparison with the set deceleration.
Each controller generates an output: the vehicle logic control unit monitors the calculated acceleration and deceleration of the vehicle through real-time speed monitoring of the controlled variable (traction PWM wave or brake PWM wave). According to the deceleration requirement of the handle position, real-time deceleration is compared, PWM output is adjusted, and finally the required deceleration is achieved.
Brief description of braking scheme logic:
1. in the initial stage of braking, the first control module decelerates the train using electric braking, and uses friction braking as compensation when the electric braking is insufficient.
2. When the train is lower than 7km/h, the second control module enters a standby state, and when the electric brake in the low-speed state is detected to fail to meet the braking force requirement, the friction brake is applied in time. When the train approaches 2.7km/h, the electric brake is completely faded out, and only the friction brake is used for controlling the deceleration of the train. The friction braking force is gradually increased in this stage until the electric brake is completely faded out.
3. In the event of a failure of the electric brakes (electric brake failure), the second control module applies friction brakes to control deceleration of the train.
In the braking control process, a state monitoring module in the module calculates the braking speed reduction demand required by the current TCL position according to the TCL handle braking level information, and outputs a preliminarily set braking force after a definite braking instruction is obtained.
The vehicle logic control module calculates a train deceleration value of the current primary braking according to the feedback of the train speed, and the control module adjusts a braking instruction signal after comparing a target deceleration with an actual deceleration and outputs a PWM duty ratio electric signal to the traction and braking system.
And the state monitoring module can select the PID controller according to the actual working condition in the braking process so as to meet the set target value of the deceleration.
The PWM signal is input to the traction/braking system to apply the brakes, and the vehicle logic control module will calculate its actual deceleration value from the re-received real-time speed and compare it to the target deceleration. Recalculate and output more accurate braking command, and convert into PWM required by traction/braking and input to the PID module, the electric braking/friction braking will respond to the braking PWM command again.
In the process, the vehicle logic control unit V continuously receives the speed sensor feedback signal, calculates the deceleration value, and compares the deceleration value with the required deceleration value corresponding to the position of the TCL to form a control loop.
The vehicle is controlled to reach the designated deceleration request level by monitoring the vehicle speed and the deceleration and continuously adjusting the deceleration, so that the closed-loop control of the vehicle speed is realized, and the feedback signal and the control signal are continuously compared and adjusted to control the vehicle to quickly reach the designated deceleration.
In order to solve the problem of comfort of passengers in a manual mode of the straddle type monorail vehicle, the processing function of a vehicle logic control module on a braking instruction is adjusted by changing a braking control mode, the testing of the vehicle braking process is completed according to a closed-loop control strategy in the technical scheme, and important parameters in the vehicle braking process are recorded.
After the vehicle braking parameters are analyzed, the riding comfort of the vehicle originally designed for the straddle type monorail vehicle can be improved by definitely adopting a hybrid braking mode, and the standard of the domestic rail vehicle can be met. The test data is used as the standard for testing the actual braking effect and the comfort level, the improvement of the comfort level of the vehicle by a hybrid braking mode is definite, and the hybrid braking of the straddle type monorail vehicle is successfully realized.
Claims (10)
1. A straddle-type monorail vehicle hybrid brake system comprises a state monitoring module, a first control module, a second control module and a traction-brake system, wherein:
the state monitoring module comprises a state monitoring data receiving module, a state monitoring data processing module and a state monitoring data judging and outputting module;
the state monitoring data receiving module is used for receiving the TCL handle braking level information and the vehicle real-time running speed information and transmitting the received TCL handle braking level information and the vehicle real-time running speed information to the state monitoring data processing module;
the state monitoring data processing module is used for calculating the target required deceleration required by the current TCL handle brake level information and the actual deceleration of the train for primary braking at present, and transmitting the calculated target required deceleration and the actual deceleration of the train to the state monitoring data judgment output module;
the state monitoring data judgment output module is used for comparing the target required deceleration with the actual deceleration value of the train and adjusting a braking instruction signal according to the judgment result so as to output a PWM duty ratio electric signal to the traction-braking system through the first control module or the second control module;
when the state monitoring data judgment output module outputs a PWM duty ratio electric signal to the traction-braking system through the first control module, the traction-braking system starts a first braking mode;
and when the state monitoring data judgment output module outputs the PWM duty ratio electric signal to the traction-braking system through the second control module, the traction-braking system starts a second braking mode.
2. The hybrid brake system for a straddle-type monorail vehicle according to claim 1, wherein the real-time running speed information of the vehicle is detected and fed back by a speed sensor installed on the vehicle.
3. A straddle-type monorail vehicle hybrid brake system according to claim 1, wherein the first brake mode is mainly electric brake and is assisted by friction brake to decelerate the train; and in the first braking mode, the friction braking is started when the braking force provided by the electric braking is not satisfied with the requirement.
4. A straddle-type monorail vehicle hybrid brake system according to claim 2, wherein the second brake mode is suitable for a low-speed train operation mode or an electric brake failure mode; when the train is in a low-speed running mode, the train is decelerated by mainly using friction braking and by using electric braking, and meanwhile, the braking force provided by the friction braking is gradually increased in the process until the electric braking is completely faded out;
the second braking mode applies friction braking to control train deceleration when electric braking fails.
5. A straddle-type monorail vehicle hybrid brake system according to claim 4, wherein the train runs at a speed lower than 7km/h when the train is in the low-speed running mode.
6. The hybrid brake system for a straddle-type monorail vehicle according to claim 1, wherein the first control module and the second control module are both PID control modules.
7. A hybrid braking method for a straddle-type monorail vehicle, which is realized on the basis of the hybrid braking system for the straddle-type monorail vehicle of claim 1, and is characterized by comprising the following steps:
step one, receiving current TCL handle brake level information and vehicle real-time running speed information;
step two, respectively calculating the target required deceleration and the actual deceleration value of the train
Step 2.1, calculating the required target required deceleration according to the received TCL handle brake level information to obtain an initial braking force;
2.2, calculating the current actual deceleration value of the train according to the received real-time running speed information of the train;
step three, comparing the target required deceleration and the actual deceleration value of the train, and selecting a braking mode matched with the current actual working condition according to the comparison result so as to meet the initial braking force requirement corresponding to the target required deceleration:
in the initial stage of braking, the electric brake is used for decelerating the train, and when the electric brake is insufficient, the friction brake is used as compensation;
in the low-speed running stage of the train, the braking force provided by the electric brake can not meet the requirement, and the friction brake is started; in the process, the friction braking force is gradually increased until the electric brake is completely faded out;
and step four, repeating the step 2.2 and the step three until the target required deceleration is reached.
8. The hybrid braking method for a straddle-type monorail vehicle according to claim 6, wherein in step three, when the electric brake fails, the braking mode is selected from friction braking only, and the braking mode is activated by the second control module.
9. The hybrid braking method for the straddle-type monorail vehicle according to claim 6, wherein the real-time running speed information of the vehicle in the step (1) is acquired and fed back through a speed sensor installed on the train.
10. The hybrid braking method for a straddle-type monorail vehicle according to claim 6, wherein in step three, when the train is in a low-speed running mode, the running speed of the train is lower than 7 km/h; and when the running speed of the train is close to 2.7km/h, the electric brake fades out completely, and only the friction brake is applied to control the deceleration of the train.
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| CN202111395843.2A CN114932889A (en) | 2021-11-23 | 2021-11-23 | Hybrid braking system and method for straddle type monorail vehicle |
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| CN202111395843.2A CN114932889A (en) | 2021-11-23 | 2021-11-23 | Hybrid braking system and method for straddle type monorail vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117985011A (en) * | 2024-04-03 | 2024-05-07 | 潍柴动力股份有限公司 | Vehicle braking method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117985011A (en) * | 2024-04-03 | 2024-05-07 | 潍柴动力股份有限公司 | Vehicle braking method and system |
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