CN116654047A - Control method and system for train in wet rail mode and train - Google Patents
Control method and system for train in wet rail mode and train Download PDFInfo
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- CN116654047A CN116654047A CN202310702064.5A CN202310702064A CN116654047A CN 116654047 A CN116654047 A CN 116654047A CN 202310702064 A CN202310702064 A CN 202310702064A CN 116654047 A CN116654047 A CN 116654047A
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000011217 control strategy Methods 0.000 claims abstract description 37
- 238000004590 computer program Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 238000013475 authorization Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000009736 wetting Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0038—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to sensors
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
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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
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a control method, a system and a train of a train in a wet rail mode, which belong to the field of train control, wherein the train comprises a speed measuring and distance measuring module and a data acquisition module, the speed measuring and distance measuring module comprises a plurality of sensors, the speed measuring and distance measuring module is used for acquiring running data of the train, and the data acquisition module is used for acquiring track information, and the method comprises the following steps: determining the wet slip degree of a track in front of the train operation according to the track information; determining a wet slip grade corresponding to the wet slip according to a corresponding relation between the preset wet slip and the wet slip grade; when the wet skid level is a first set threshold or when the wet skid level is a second set threshold and any sensor of the speed and distance measuring module works abnormally, adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate, wherein the first set threshold is larger than the second set threshold. The invention is simultaneously suitable for the above-ground and underground tracks, can realize the fine control of each train based on the track sections, and further ensures the running safety of the trains.
Description
Technical Field
The invention relates to the technical field of train control, in particular to a control method and system for a train in a wet rail mode and the train.
Background
In cities, especially in extra large cities, subways have become the main travel mode of people gradually, and the subway operation efficiency needs to be matched with the ever-increasing passenger flow and the requirement for high-quality service. The subway signal system needs to consider various operation scenes including rain, snow, ice, frost, fog and other scenes. In these situations, if the track surface is wet, the wheels are liable to slip, and when slip compensation fails, emergency braking of the vehicle is caused, which affects the operation efficiency.
At present, in rainy and snowy days, a rain and snow mode is generally adopted to solve the problem of slip. In rainy and snowy days, a train dispatcher and a driver are confirmed and then set up a rainy and snowy mode through an interface partition of a train automatic monitoring system (Automatic Train Supervision, ATS), and a Vehicle-mounted Controller (VOBC) receives the rainy and snowy mode issued by the ATS and then controls the running of the train by adopting a rainy and snowy mode Vehicle control strategy. The rain and snow mode control strategy mainly refers to that an automatic train operation device (AutomaticTrainOperation, ATO) limits output of a maximum traction rate and a maximum braking rate.
However, the inventor finds that the current technical scheme only considers the influence of rain and snow weather on the track surface wet sliding of the overground part, does not consider the scene of the track surface wet sliding of the partial area caused by the moist and water seepage of the climate of the underground tunnel part, cannot be adjusted in real time according to the scene change, and cannot ensure the running safety of the train.
Disclosure of Invention
The invention aims to provide a control method, a system and a train for a train in a wet rail mode, wherein the wet sliding degree of a rail surface of a front rail is determined by utilizing data of a data acquisition module, a control strategy is determined according to the wet sliding degree, and meanwhile, the control method is applicable to the above-ground and underground rails, fine control of each train based on rail sections is realized, and the running safety of the trains is further ensured.
The invention provides a control method of a train in a wet rail mode, the train comprises a speed measuring and distance measuring module and a data acquisition module, the speed measuring and distance measuring module comprises a plurality of sensors, the speed measuring and distance measuring module is used for acquiring running data of the train, the data acquisition module is used for acquiring rail information, and the method comprises the following steps:
determining the wet slip degree of a track in front of train operation according to the track information;
determining a wet slip grade corresponding to the wet slip according to a corresponding relation between a preset wet slip and the wet slip grade;
and when the wet slip level is a first set threshold or when the wet slip level is a second set threshold and any sensor in the speed and distance measuring module works abnormally, adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate, wherein the first set threshold is larger than the second set threshold.
Optionally, after determining the wet slip level corresponding to the wet slip level according to the preset correspondence between the wet slip level and the wet slip level, when the wet slip level is a first set threshold or when the wet slip level is a second set threshold and any sensor in the speed and distance measuring module works abnormally, before adopting the vehicle control strategy for limiting the maximum traction and braking rate, the method further includes:
determining the working state of any sensor in the speed measuring and distance measuring module;
and when any sensor in the speed measuring and distance measuring module has idle skidding, determining that the sensor works abnormally.
Optionally, the method further comprises: and when any sensor in the speed and distance measuring module works abnormally, and the wet slip level is smaller than a second set threshold value, maintaining a vehicle control strategy of rated maximum traction and rated maximum braking rate.
Optionally, the method further comprises: and when the wet skid grade is a second set threshold value and the speed and distance measuring module works normally, maintaining a vehicle control strategy of rated maximum traction and rated maximum braking rate.
Optionally, after adopting the vehicle control strategy that limits the maximum traction and limits the maximum brake rate, the method further comprises:
acquiring position information of a train;
and sending the position information to a train automatic monitoring system.
The invention also provides a control system of the train in the wet rail mode, which comprises:
the speed and distance measuring module is used for collecting the running data of the train;
the data acquisition module is used for acquiring track information;
the wet skid degree determining module is used for determining the wet skid degree of the track in front of the train operation according to the track information;
the wet slip grade determining module is used for determining the wet slip grade corresponding to the wet slip according to the corresponding relation between the preset wet slip degree and the wet slip grade;
the control module is used for adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate when the wet slip level is a first set threshold value or when the wet slip level is a second threshold value and any sensor in the speed and distance measuring module works abnormally, wherein the first set threshold value is larger than the second set threshold value.
Optionally, the data acquisition module comprises a temperature and humidity sensor, a laser radar, a high-speed camera and a millimeter wave radar; the humidity sensor is used for collecting the temperature and humidity of the track, the laser radar and the millimeter wave radar are used for collecting the outline information of the track, and the high-speed camera is used for collecting the covering information of the surface of the track.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the control method of the train in the wet rail mode when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements the method of controlling a train in wet rail mode.
The invention also provides a train comprising the control system of the train in the wet rail mode or the electronic equipment.
According to the control method, the system and the train for the train in the wet rail mode, the speed and distance measuring module is used for collecting running data of the train, the data collecting module is used for collecting rail information, and then the wet sliding degree of the rail in front of the running of the train is determined according to the rail information; determining a wet slip grade corresponding to the wet slip according to a corresponding relation between a preset wet slip and the wet slip grade; and when the wet slip level is a first set threshold or when the wet slip level is a second set threshold and any sensor in the speed and distance measuring module works abnormally, adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate, wherein the first set threshold is larger than the second set threshold. The invention determines the train control strategy of the train according to the track information and the running data of the train, the data acquisition module is positioned on the train, and the acquired object is the track information, so that the train control strategy of a wet track mode can be carried out for each track section of the train running, whether the track is on the ground or underground, when the wet track section exists, namely the train control strategy of limiting the maximum traction and limiting the maximum braking rate, thereby ensuring the running safety of the train.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is one of the flow charts of the control method of the train in the wet rail mode provided by the invention;
FIG. 2 is a schematic diagram of the working process of the data acquisition module provided by the invention;
FIG. 3 is a schematic diagram of the working process of the speed and distance measuring module provided by the invention;
FIG. 4 is a schematic diagram of a wet rail mode train authorization provided by the present invention;
FIG. 5 is a second flowchart of a method for controlling a train in a wet rail mode according to the present invention;
FIG. 6 is a third flow chart of a method for controlling a train in a wet rail mode according to the present invention;
FIG. 7 is a block diagram of a control system for a train in wet rail mode provided by the present invention;
fig. 8 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The control method, system and train of the present invention in the wet rail mode are described below with reference to fig. 1-8. The wet rail mode refers to conditions such as rail surface wetting, water seepage, frosting or icing.
Fig. 1 is one of flowcharts of a control method of a train in a wet rail mode, as shown in fig. 1, wherein the train comprises a speed measuring and distance measuring module and a data acquisition module, the speed measuring and distance measuring module comprises a plurality of sensors, the speed measuring and distance measuring module is used for acquiring running data of the train, the data acquisition module is used for acquiring track information, and the method comprises the following steps:
step 101: and determining the wet smoothness of the track in front of the train operation according to the track information.
In a specific embodiment, a data acquisition module is arranged at the train head position to acquire data of track information, and the data acquisition module comprises a temperature and humidity sensor, a laser radar, a high-speed camera, a millimeter wave radar and the like. In addition, the train is also provided with a high-performance server which is used for fusing information such as a temperature and humidity sensor, a laser radar, a high-speed camera, a millimeter wave radar and the like, outputting the rail surface smoothness and sending the rail surface smoothness to the vehicle-mounted ATP.
The corresponding relation between the fusion data of the temperature and humidity sensor, the laser radar, the high-speed camera, the millimeter wave radar and the like and the rail surface smoothness can be used for manufacturing a wet smoothness value table for use in advance according to the historical value and storing the wet smoothness value table in a high-performance server.
In a specific embodiment, the data acquisition module works as shown in fig. 2, wherein the temperature and humidity sensor is used for acquiring the temperature and humidity of the rail. Laser radars and millimeter wave radars are used to detect the track line profile in front, and can provide accurate shape profile and position information because the laser radars generate high resolution imaging using the reflection of laser light by the target. However, the laser radar is affected by severe weather, the millimeter wave radar is slightly affected by weather and external environment changes, and is not affected by light, dust, haze, rain, snow and other weather conditions, so that the data weights of the laser radar and the millimeter wave radar need to be adjusted according to the environmental conditions. The high-speed camera can acquire micron-sized imaging details in real time, and is suitable for remote 'micro-vision' detection and shooting analysis of high-speed moving objects. And the devices send the detected data to a high-performance server, perform data analysis and calculation and multi-sensor data fusion, and then send track wet slip information to a vehicle-mounted controller.
In a specific embodiment, according to the front track line detected by the laser radar and the millimeter wave radar, when the rain, snow, haze and sand dust below or on the ground are low, the data detected by the laser radar are more accurate, and the weight is high when the data of the calibrated track line are fused; in heavy rain, heavy snow or heavy fog days, the laser radar has low reliability, and millimeter wave radar is mainly used when the data of the calibrated track line are fused.
In a specific embodiment, a high-speed camera collects image information of a front track area, a neural network algorithm is adopted in a high-performance server to extract features of a steel rail, a rail surface and a rail surface covering in the image, the features of the track detected by a radar are mapped into an image processing algorithm, the rail surface covering state is accurately obtained, and then the rail surface covering state is equivalent to the wet skid degree.
Step 102: and determining the wet slip grade corresponding to the wet slip according to the corresponding relation between the preset wet slip and the wet slip grade.
In a specific embodiment, the wet skid grade may be classified into 5 grades according to wet skid, for example: grade 0 indicates rail surface ambient drying; level 1 indicates rail face wetting; level 2 indicates ambient moisture, rail face moisture (possibly tunnel environment); level 3 indicates that the rail surface is partially covered with liquid, ice or frost, and that the train may slip and spin; the 4-level rail surface is provided with a large amount of wet sliding objects, and is not suitable for traveling.
Step 103: and when the wet slip level is a first set threshold or when the wet slip level is a second set threshold and any sensor in the speed and distance measuring module works abnormally, adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate, wherein the first set threshold is larger than the second set threshold.
In a specific embodiment, the train is further provided with a speed and distance measuring module, the speed and distance measuring module includes a plurality of sensors, and after step 102, before step 103, the method further includes: determining the working state of any sensor in the speed measuring and distance measuring module; and when any sensor in the speed and distance measuring module has idle skidding (due to overlarge acceleration or overlarge deceleration), determining that the sensor works abnormally. When the maximum wet slip threshold is not reached, the running state of the train is determined according to the working state of the speed measuring and distance measuring module, so that whether the train control strategy of the wet rail mode is carried out or not is determined, and stable and safe running of the train can be ensured.
In a specific embodiment, the working process of the speed and distance measuring module is shown in fig. 3, the speed and distance measuring module comprises 2 speed sensors, 1 radar and 1 accelerometer, the data of the current train speed, the running distance, the running direction, whether the sensor rotates idle or slips and the like are obtained by analyzing and calculating the original data of each sensor and analyzing the calculated data of each sensor, and finally the data are fused and packaged into speed and distance measuring data and output to the vehicle-mounted ATP. The data output by the speed and distance measuring module is the fusion result of a plurality of sensors.
In a specific embodiment, when any sensor in the speed and distance measuring module is abnormal, but the wet skid level is smaller than a second set threshold, a vehicle control strategy of rated maximum traction and rated maximum braking rate is maintained. When the wet skid level is smaller, the track running is relatively safe, and at the moment, although idle skid (due to overlarge acceleration or overlarge deceleration) of a single speed sensor in speed measurement and distance measurement possibly exists, the radar can compensate the speed or acceleration, so that the train does not perform a train control strategy in a wet track mode, namely, the train control strategy with the rated maximum traction and the rated maximum braking rate is kept, and thus the running safety of the train can be ensured, and meanwhile, the running stability of the train is ensured.
In a specific embodiment, a single speed sensor determines that a slip is occurring if its speed is less than 90% of the radar speed, (another speed sensor is operating properly, radar is operating properly), and determines that the speed sensor is recovering from a slip condition if its speed exceeds 96% of the radar speed.
In a specific embodiment, when the wet skid level is the second set threshold and the speed and distance measuring module works normally, a vehicle control strategy of rated maximum traction and rated maximum braking rate is maintained. The speed and distance measuring module works normally, so that the train operates stably, and the condition that the acceleration is overlarge or the deceleration is overlarge does not occur, so that the train control strategy of a wet rail mode is not needed, and the train control strategy of rated maximum traction and rated maximum braking rate can be kept for running, so that the running safety of the train can be ensured, and the running stability of the train can be ensured. For example, when each sensor of the speed and distance measuring module works normally, the track humidity level transmitted by the data acquisition module is 3, and the train is judged to possibly slip in idle according to the result of the data acquisition module, but the vehicle-mounted ATP judges not to enter the wet track mode at this time because the speed and distance measuring module does not have the condition of overlarge acceleration or overlarge deceleration.
In a specific real-time example, the speed and distance measuring module generally adopts a principle of two three, for example, if the speed and distance measuring module includes two speed sensors and one radar, the speed and distance measuring module is judged to work normally as long as two or more sensors work normally, and the speed and position information is output normally. If two or more sensors work abnormally, the train judges that the speed and distance measurement is invalid, and emergency braking is applied.
In one specific embodiment, the first set threshold is level 4 (the rail surface has a large amount of wet skid and is not suitable for traveling) and the second set threshold is level 3 (the rail surface has partial liquid, ice or frost coverage and the train may slip). The number of steps is not limited to a specific value, and may be defined to distinguish between different rail surface conditions.
In a specific embodiment, after employing the control strategy that limits maximum traction and limits maximum brake rate, the method further comprises: acquiring position information of a train; and sending the position information to a train automatic monitoring system. Therefore, related personnel can conveniently check the current running state of the train or verify conditions such as water seepage and water leakage, and the running safety of the train is ensured.
In a specific embodiment, the control method of the train in the wet rail mode in fig. 1 is implemented by an automatic train protection system (Automatic Train Protection, ATP), and the control method can be automatically executed according to preset authorization conditions, or can be executed according to an instruction sent by a dispatching person, and the authorization schematic diagram is shown in fig. 4. Specifically, before subway operation, a traveling regulator firstly sets whether to allow the vehicle-mounted ATP to actively enter a wet rail mode on an ATS interface. If the ATP is set to be allowed to actively enter the wet rail mode, when the ATP executes the control method of the train in the wet rail mode, if the ATP judges that the front rail is about to slip, the ATP automatically enters the wet rail mode, and sends feedback of entering the wet rail mode and a train position report at the moment to an ATS (or a comprehensive driving automation system, TIAS), and an ATS interface popup prompts a train adjuster that the train has entered the wet rail mode to operate. If the ATP is not allowed to actively enter the wet rail mode, when the ATP executes the control method of the train in the wet rail mode, if the ATP judges that the front rail is about to slip, after the parking of the front rail is applied, the ATP transmits a report of applying to enter the wet rail mode and the position to the ATS, the ATS interface popup prompts a dispatching personnel, after the dispatching personnel verifies the rail condition, the ATP transmits whether the ATP is allowed to enter the wet rail mode or not, and the ATP controls the train according to the ATS instruction. If the on-board ATP is not set by the on-board personnel, whether the on-board ATP is allowed to actively enter the wet rail mode or not, the on-board ATP defaults to being authorized to actively enter the wet rail mode.
FIG. 5 is a schematic diagram of a second control method of a train in a wet rail mode according to the present invention, wherein the train is authorized to actively enter the wet rail mode; as shown in fig. 5, after the ATS issues to the ATP to allow the autonomous entry into the wet rail mode, the vehicle-mounted ATP combines the working states of the sensors of the self speed and distance measuring module and the track humidity level transmitted by the data acquisition module to determine whether to output the wet rail mode; if yes, sending an instruction for entering a wet track mode to the ATO, and feeding back a wet track mode and a position report to the ATS; after receiving the wet rail mode command, the ATO adopts a vehicle control strategy for limiting the maximum traction and braking rate (at this time, the maximum traction and braking rate is generally limited to 60% of the rated maximum traction and braking rate) to realize the wet rail mode vehicle control; the ATS interface prompts the train to have entered wet track mode and sends a position report including, but not limited to, the track section in which it is located and track section attributes, up and down information, etc. The ATS interface popup prompts the train operator that the train has entered wet rail mode operation. In addition, if the track section attribute is a tunnel attribute, a line adjuster can send out people or check whether the track area has water leakage or not through a monitoring camera possibly shot in the tunnel, and whether the track surface is clean and dry or not, so that a fault alarm function is realized. When the next track section where the train is located does not meet the condition of entering the wet track mode, the ATP of the train exits the wet track mode, and the mode is changed into a normal mode for controlling the train, and a report that the train has exited the wet track mode is sent to the ATS.
The method realizes that the train is switched to the wet rail mode without stopping, manual access is not needed, and the train realizes automatic control. The vehicle-mounted ATP judges whether to enter a wet rail mode according to the state of the track section, and flexibly adjusts a train control strategy according to actual conditions, so that the track section is finely controlled.
Fig. 6 is a flowchart of a third control method of a train in a wet rail mode, that is, a schematic diagram of a train not authorized to actively enter the wet rail mode, as shown in fig. 6, a train adjuster first sets on an ATS interface of the train that an ATP on the train is not allowed to actively enter the wet rail mode. After the train starts to run on line, the train data acquisition module detects the track wet slip degree of the front area and sends the track wet slip degree to the vehicle-mounted ATP. And the vehicle-mounted ATP is combined with the working states of the sensors of the self speed and distance measuring module and the track humidity level transmitted by the data acquisition module to judge whether the slip or not will occur. If the track section is about to slip, the ATP applies the service brake to stop and sends a request to the ATS to enter wet track mode, sending a position report. The ATS interface popup prompts a train adjuster, and the train applies to enter a wet rail mode for running. The line debugging personnel can dispatch the personnel, or check whether the track area has water leakage or not through a monitoring camera which can shoot, whether the track surface is clean and dry, and the like, and finally judge whether to issue an instruction for entering a wet track mode to ATP. If the ATP receives the authorization of entering the wet track mode, the ATP sends a wet track mode instruction to the ATO, and the ATO adopts a vehicle control strategy for limiting and outputting the maximum traction and braking rate. If the ATP is received and is not allowed to enter the wet rail mode, the ATP continues to operate according to the current car control mode, and the ATO adopts a normal car control strategy.
The control system of the train in the wet rail mode provided by the invention is described below, and the control system of the train in the wet rail mode described below and the control method of the train in the wet rail mode described above can be correspondingly referred to each other.
As shown in fig. 7, a control system for a train in a wet rail mode includes:
the speed and distance measuring module 701 is used for collecting the running data of the train.
The data acquisition module 702 is configured to acquire track information.
The wet skid determination module 703 is configured to determine the wet skid of the track in front of the train running according to the track information.
The wet skid grade determining module 704 is configured to determine a wet skid grade corresponding to the wet skid according to a preset correspondence between the wet skid and the wet skid grade.
The control module 705 is configured to, when the wet slip level is a first set threshold or when the wet slip level is a second threshold and any sensor of the speed and distance measurement module is abnormal, adopt a vehicle control strategy that limits maximum traction and limits maximum braking rate, where the first set threshold is greater than the second set threshold.
In a specific embodiment, the data acquisition module 702 includes a temperature and humidity sensor, a laser radar, a high speed camera, and a millimeter wave radar; the humidity sensor is used for collecting the temperature and humidity of the track, the laser radar and the millimeter wave radar are used for collecting the outline information of the track, and the high-speed camera is used for collecting the covering information of the surface of the track.
Fig. 8 illustrates a physical structure diagram of an electronic device, as shown in fig. 8, which may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a method of controlling a train in a wet rail mode, the train including a speed and distance measurement module and a data acquisition module, the speed and distance measurement module including a plurality of sensors, the speed and distance measurement module being configured to acquire operational data of the train, the data acquisition module being configured to acquire rail information, the method comprising:
and determining the wet smoothness of the track in front of the train operation according to the track information.
And determining the wet slip grade corresponding to the wet slip according to the corresponding relation between the preset wet slip and the wet slip grade.
And when the wet slip level is a first set threshold or when the wet slip level is a second set threshold and any sensor in the speed and distance measuring module works abnormally, adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate, wherein the first set threshold is larger than the second set threshold.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program when executed by a processor being capable of executing a method of controlling a train in a wet rail mode, the train including a speed and distance measurement module and a data acquisition module, the speed and distance measurement module including a plurality of sensors, the speed and distance measurement module being configured to acquire operation data of the train, the data acquisition module being configured to acquire track information, the method comprising:
and determining the wet smoothness of the track in front of the train operation according to the track information.
And determining the wet slip grade corresponding to the wet slip according to the corresponding relation between the preset wet slip and the wet slip grade.
And when the wet slip level is a first set threshold or when the wet slip level is a second set threshold and any sensor in the speed and distance measuring module works abnormally, adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate, wherein the first set threshold is larger than the second set threshold.
In still another aspect, the present invention provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform a method of controlling a train in a wet rail mode, the train including a speed and distance measurement module including a plurality of sensors, and a data acquisition module for acquiring operational data of the train, the method comprising:
and determining the wet smoothness of the track in front of the train operation according to the track information.
And determining the wet slip grade corresponding to the wet slip according to the corresponding relation between the preset wet slip and the wet slip grade.
And when the wet slip level is a first set threshold or when the wet slip level is a second set threshold and any sensor in the speed and distance measuring module works abnormally, adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate, wherein the first set threshold is larger than the second set threshold.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
The invention also provides a train comprising the control system of the train in the wet rail mode or the electronic equipment.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The control method of the train in the wet rail mode is characterized in that the train comprises a speed measuring and distance measuring module and a data acquisition module, the speed measuring and distance measuring module comprises a plurality of sensors, the speed measuring and distance measuring module is used for acquiring running data of the train, the data acquisition module is used for acquiring track information, and the method comprises the following steps:
determining the wet slip degree of a track in front of train operation according to the track information;
determining a wet slip grade corresponding to the wet slip according to a corresponding relation between a preset wet slip and the wet slip grade;
and when the wet slip level is a first set threshold or when the wet slip level is a second set threshold and any sensor in the speed and distance measuring module works abnormally, adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate, wherein the first set threshold is larger than the second set threshold.
2. The method for controlling a train in a wet rail mode according to claim 1, wherein after determining a wet slip level corresponding to a wet slip level according to a preset correspondence between the wet slip level and the wet slip level, before adopting a control strategy for limiting output of a maximum traction and braking rate when the wet slip level is a first set threshold or when the wet slip level is a second set threshold and any one of the sensors of the speed and distance measuring module is abnormal in operation, the method further comprises:
determining the working state of any sensor in the speed measuring and distance measuring module;
and when any sensor in the speed measuring and distance measuring module has idle skidding, determining that the sensor works abnormally.
3. The method for controlling a train in a wet rail mode according to claim 1 or 2, characterized in that the method further comprises: and when any sensor in the speed and distance measuring module works abnormally, and the wet slip level is smaller than a second set threshold value, maintaining a vehicle control strategy of rated maximum traction and rated maximum braking rate.
4. The method for controlling a train in a wet rail mode according to claim 1 or 2, characterized in that the method further comprises: and when the wet skid grade is a second set threshold value and the speed and distance measuring module works normally, maintaining a vehicle control strategy of rated maximum traction and rated maximum braking rate.
5. The method of claim 1, wherein after employing a control strategy that limits maximum traction and limits maximum brake rate, the method further comprises:
acquiring position information of a train;
and sending the position information to a train automatic monitoring system.
6. A control system for a train in a wet rail mode, comprising:
the speed and distance measuring module is used for collecting the running data of the train;
the data acquisition module is used for acquiring track information;
the wet skid degree determining module is used for determining the wet skid degree of the track in front of the train operation according to the track information;
the wet slip grade determining module is used for determining the wet slip grade corresponding to the wet slip according to the corresponding relation between the preset wet slip degree and the wet slip grade;
the control module is used for adopting a vehicle control strategy for limiting the maximum traction and limiting the maximum braking rate when the wet slip level is a first set threshold value or when the wet slip level is a second threshold value and any sensor in the speed and distance measuring module works abnormally, wherein the first set threshold value is larger than the second set threshold value.
7. The control system of a train in wet rail mode according to claim 6, wherein the data acquisition module comprises a temperature and humidity sensor, a laser radar, a high-speed camera, and a millimeter wave radar; the humidity sensor is used for collecting the temperature and humidity of the track, the laser radar and the millimeter wave radar are used for collecting the outline information of the track, and the high-speed camera is used for collecting the covering information of the surface of the track.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements a method of controlling a train in a wet rail mode as claimed in any one of claims 1 to 5.
9. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method of controlling a train in a wet rail mode according to any one of claims 1 to 5.
10. A train comprising a control system for a train in wet rail mode according to any one of claims 6-7 or an electronic device according to claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310702064.5A CN116654047A (en) | 2023-06-13 | 2023-06-13 | Control method and system for train in wet rail mode and train |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310702064.5A CN116654047A (en) | 2023-06-13 | 2023-06-13 | Control method and system for train in wet rail mode and train |
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| CN116654047A true CN116654047A (en) | 2023-08-29 |
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| CN202310702064.5A Pending CN116654047A (en) | 2023-06-13 | 2023-06-13 | Control method and system for train in wet rail mode and train |
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| Country | Link |
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| CN (1) | CN116654047A (en) |
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- 2023-06-13 CN CN202310702064.5A patent/CN116654047A/en active Pending
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