CN1718488A - Mobile block signal analogue control method of rail traffic - Google Patents
Mobile block signal analogue control method of rail traffic Download PDFInfo
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- CN1718488A CN1718488A CNA2005100122207A CN200510012220A CN1718488A CN 1718488 A CN1718488 A CN 1718488A CN A2005100122207 A CNA2005100122207 A CN A2005100122207A CN 200510012220 A CN200510012220 A CN 200510012220A CN 1718488 A CN1718488 A CN 1718488A
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Abstract
An analog control method for the running and blocking signal of railway traffic includes such steps as reporting the position, speed and direction to scheduling center by each train, transmitting the scheduling instruction to each running train by the scheduling center according to train running scheme, and regulating the acceleration or deceleration of each train by its driver.
Description
Technical field
The present invention relates to be applicable to a kind of mobile block signal analogue control method of rail traffic under the movable block condition, belong to computer program control technology field.
Background technology
In recent years, along with data communication and fast development of computer technology, received great concern based on the track traffic problem of movable block whistle control system.The whistle control system of movable block is to determine the permission position of follow-up train and permissible velocity or the like according to the actual position of the place ahead train and speed, with this interval of following train is significantly reduced, and on the basis that guarantees safety traffic, improve the traffic potential of road.
In Rail Transit System, no matter be the main line railway traffic, or city underground and light rail, train control system all has important effect, and it is the brain and the cental system of Rail Transit System.Present stage, the data that the research of train control system accumulates in theory under the relevant movable block condition is also very not enough, and the technology of relevant whistle control system also need be by means of the simulator study of computing machine.At present, main analogy method analogy method based on key model is arranged, based on the analogy method of time model with based on the analogy method of event model.Use key model, when rail conducting ring length hour, continuous brake figure is a kind of reasonably approximate.Time-based method designs and sets up simulation model easily, but higher to the request memory that calculates.Can save the internal memory of calculating based on the method for incident, but reduce accuracy of simulation to a certain extent.
Summary of the invention
The present invention will solve the problems of the technologies described above, and a kind of mobile block signal analogue control method of rail traffic is provided, and it is to be based upon on the basis of cellular automata traffic model.This analog control system is used for analyzing the train operating conditions under the various conditions, test signal control system and the performance of improving whistle control system, and this system can also be used to training the operation and the examination of chaufeur simultaneously.
Technical scheme of the present invention: a kind of mobile block signal analogue control method of rail traffic, contain following steps;
Step 1: in the train operation simulation control method, the control center also is operational plan according to train diagram, produces traffic order, and assigns the train of exercising on the line by wireless relay apparatus;
Step 2: every row train sends to control center such as oneself position, direction and speed parameter etc.;
Whether step 3: the control center accepts the parameter information of train, judges the position of all trains of this section at any time, move by running chart so that know train;
Step 4: every row train and its place ahead train and follow-up train keep in touch, and exchange message according to the traffic order of control center, is guaranteed the operation of train as prescribed speed, and keeps the tracking distance of safety.
Under the commander of control center, train is in driving process, the rule of quickening and slowing down is: when (1) is a train of exercising when the place ahead, if the distance between the train of front and back is greater than safety distance, then follow-up train quickens, if the distance between the train of front and back less than safety distance, then follow-up train deceleration, otherwise follow-up train maintains speed constant; (2) when the place ahead of train is a station, if the shield segment at station does not also empty, then keep a safe distance between train and the station, if the shield segment at station empties, then train enters the station by deceleration.According to the cellular automata principle, the speed of track and train operation and time are all by discretization.
Train is in driving process, and the rule that velocity variations is concrete is:
Condition I: train is in tracing process, and promptly the place ahead of n car is a n-1 car:
Step 1 is quickened
As Δ x
n＞d
n
v
n＝min(v
n+a，v
max)
As Δ x
n＜d
n
v
n＝max(v
n-b，0)
Otherwise
v
n＝v
n
Step 2 is slowed down
v
n＝min(v
n，gap)
Step 3 displacement
x
n＝x
n+v
n
Condition II: the place ahead of n car is the station
(1) the station shield segment does not empty, and update rule is with condition I
(2) the station shield segment empties
Step 1 is quickened:
As Δ x
n＞x
c
v
n＝min(v
n+a，v
max)
As Δ x
n＜x
c
v
n＝max(v
n-b，0)
Otherwise
v
n＝v
n
Step 2 is slowed down
v
n＝min(v
n，gap)
Step 3 displacement
x
n＝x
n+v
n
In the formula: Δ x
nDistance between the train of front and back
x
nThe position at train head place
d
nMinimum safe distance
v
nThe speed of train
The acceleration/accel of a train
The deceleration/decel of b train
x
cStopping distance
Distance between gap train and the place ahead object point
Above rule can go to realize with some machine languages commonly used, for example, and C
++Language and Matlab language.As special case, this analogy method is to be used for simulating in single line and the unidirectional Rail Transit System operation conditions of train.For the traffic under the complex conditions, can realize by revising above rule.
Beneficial effect of the present invention: the invention provides under a kind of movable block condition the analog control system of train signal.Its advantage is: (1) is guaranteeing to dwindle the safety distance between the train under the condition of safety traffic, improves the traffic potential of circuit; (2) because this system is discretization on time, space and speed, and running velocity is fast, thereby is suitable for large-scale computer modeling; (3) this analogy method biofidelity height can show the operation conditions of train in real time; (4) be easy to hardware and realize that expense is low, applied range.
Description of drawings
Train whistle control system scheme drawing under Fig. 1 movable block condition;
Position-time relationship in Fig. 2 following train operational process;
Position-length velocity relation in Fig. 3 following train operational process;
The variation relation of Fig. 4 minimal security time gap and maximum speed;
Fig. 5 program flow diagram.
The specific embodiment
Embodiments of the present invention are done a detailed description.
Embodiment 1; In mobile block signal analogue control method of rail traffic, analog system comprises four parts: station, vehicle-mounted part, track traffic partial sum along the line control center.Vehicle-mounted part is for installing vehicle-mounted equipment such as velocity-measuring system, position fixing system and train detection systems ON TRAINS, track traffic part along the line is for to be installed in equipment such as track ground transaucer along the line, record and display system, and System Control Center is the control center just.Figure 1 shows that under the movable block condition train signal control system scheme drawing.Among Fig. 1, the length of supposing train is 100 meters, and the acceleration/accel of train and retro-speed are all 1 meter per second
2, the maximum speed of train is 20 meter per seconds, safety distance is 60 meters.
In the simulation process, track traffic sensor along the line is mainly finished the collection of train information, and be transferred to the onboard system of train self, train 1 and train 2 are accurately measured the position at train head place by the onboard system of self, and by the station relevant data are sent to the ground maneuvers center in real time by wireless relay apparatus.The exact location of train 1 and train 2 afterbodys is determined according to the length of train in the ground maneuvers center, and further determines the object point of train in tracking operation course.Calculate the speed that train is exercised with this object point, and control command is sent to following train in real time by the station.Control the running velocity of train at last in real time by onboard system, to guarantee train operating safety.
Among Fig. 1, when the distance between train 1 and the train 2 greater than safety distance the time, then train 1 quickens, if the distance between them less than safety distance, then train 1 slows down, otherwise train 1 keeps original speed constant.When the shield segment at station does not also empty, keep a safe distance between train 2 and the station, if the shield segment at station empties, then train 2 enters the station by deceleration.Through leaving the station after certain length of the halt.
Experimental simulation:
In the process of simulation, if the distance of two next-door neighbour's trains less than 60 meters, then before and after train will produce each other by control signal and influence each other, speed even parking will be forced to reduce immediately following train in the back.Figure 2 shows that the track of train operation, position during its expression train operation and the variation relation between the time.Among this Fig. 2, the corresponding zero velocity of horizon, this just mean train this section in the period holding position constant, that is to say that train rests on certain position of track.From Fig. 2, can observe some horizons significantly, wherein to stop AT STATION and form owing to train for one, remaining is the phenomenon that is delayed the stop-go that forms owing to train.In this and the actual traffic, the characteristics unanimity of train operation.
AT STATION, train has comparatively complicated acceleration and deceleration behavior.When the station is occupied by the place ahead train, next-door neighbour the back, station train or be in beyond the safety distance, perhaps rest in a certain position in the place ahead, station.When the station is not occupied by other train, this car will enter the station by slowing down gradually.Figure 3 shows that train is at the variation relation of process medium velocity with distance that enter the station.Can see that from this figure train travels to the station with maximum speed, the distance when between train and station hour, train will slow down gradually and rest in the station at last, promptly speed is zero.After berthing time reached specific time, this car gentle acceleration left the station.Generally speaking, berthing time is long more, and the change curve of speed-distance is complicated more.In this and the actual traffic, the characteristics of train operation match.
Use analog control system provided by the invention, under the simulation movable block condition, the operation conditions of train.Note the minimal security time gap of train at website.In order to obtain the minimal security time gap of train at website, train is established greatlyyer at the length of the halt of website.Figure 4 shows that the result who measures, its expression train at the safety time of website at interval with the variation of maximum speed.Solid line is a theoretical value among the figure, and dotted line is an observed reading.As can be seen from Figure 4, the result that obtains of the result that obtains of theory and realistic simulation can coincide well.Explanation thus, this analog control system can successfully be used for simulating actual train signal control system.
Embodiment 2; Program flow diagram as Fig. 5;
The step of mobile block signal analogue control method of rail traffic has:
Step 1: initialization data;
Step 2: in a time step, detect the speed of train and the position at place;
Step 3: calculate the distance of train and the place ahead object point, the place ahead object point comprises the position at front truck or website place, the place ahead;
Step 4: the distance of train and the place ahead object point and safety distance on the basis, according to the rule of simulation model, calculate the speed of following train;
Step 5: determine that train is in next position constantly;
Step 6: finished the tracing process of train in a time step, judged whether halt switch; If go to step 8; Go to step 7 if not;
Step 7: time step increases by 1, goes to step 2;
Step 8: end of program.
What simulated is the train tracking operation of single line track, and the tracing process in train interval or the station is: in a time step, train is at first measured position and the speed of oneself.Then, calculate the distance of train and the place ahead object point, the place ahead object point comprises the position at front truck or website place, the place ahead.The distance of train and the place ahead object point and safety distance on the basis, according to the rule of simulation model, calculate the speed of following train, and determine that further train is in next position constantly.Below just finished the tracing process of train in a time step.
Claims (2)
1, a kind of mobile block signal analogue control method of rail traffic is characterized in that: contain following steps;
Step 1: the control center also is operational plan according to train diagram, produces traffic order, and assigns the train that moves on the line by wireless relay apparatus;
Step 2: every row train sends to control center such as oneself position, direction and speed parameter etc.;
Whether step 3: the control center accepts the parameter information of train, judges the position of all trains of this section at any time, move by running chart so that know train;
Step 4: every row train and its place ahead train and follow-up train keep in touch, and exchange message according to the traffic order of control center, is guaranteed the operation of train as prescribed speed, and keeps the tracking distance of safety.
2, a kind of mobile block signal analogue control method of rail traffic according to claim 1 is characterized in that;
(1) speed and the position of train in tracing process: when the distance between train and the place ahead train time greater than safety distance, v
n=min (min (v
n+ a, v
Max), gap);
When the distance between train and the place ahead train time less than safety distance,
v
n=min (max (v
n-b, 0), gap); Otherwise, v
n=min (v
n, gap); x
n=x
n+ v
n
(2) the place ahead of train is a station, when the station shield segment does not also empty, keeps a safe distance between train and the website; When the station shield segment had emptied, train directly entered the station.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100122207A CN100467322C (en) | 2005-07-19 | 2005-07-19 | Mobile block signal analogue control method of rail traffic |
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|---|---|---|---|
| CNB2005100122207A CN100467322C (en) | 2005-07-19 | 2005-07-19 | Mobile block signal analogue control method of rail traffic |
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| CN1718488A true CN1718488A (en) | 2006-01-11 |
| CN100467322C CN100467322C (en) | 2009-03-11 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101916510A (en) * | 2010-08-18 | 2010-12-15 | 北京交通大学 | Method for analyzing main line trafficability of urban mass transit in quasi-moving block mode |
| CN101920710A (en) * | 2010-07-28 | 2010-12-22 | 北京交通大学 | Analyzing method of main track trafficability of urban rail transit in moving block |
| CN102271986A (en) * | 2011-06-10 | 2011-12-07 | 华为技术有限公司 | Method, device and system for safety protection of train |
| CN102307299A (en) * | 2011-09-16 | 2012-01-04 | 北京交通大学 | Track traffic remote observation system based on image |
| CN102407866A (en) * | 2011-10-08 | 2012-04-11 | 北京交控科技有限公司 | Train identification number tracking method under fixed blocked condition |
| CN102632910A (en) * | 2012-03-31 | 2012-08-15 | 北京大学 | Intelligent control system based on perceptual control high-speed train block section |
| CN103547501A (en) * | 2011-06-23 | 2014-01-29 | 三菱电机株式会社 | Train operation control system |
| CN103745300A (en) * | 2013-12-16 | 2014-04-23 | 北京交控科技有限公司 | Examination method and examination equipment |
| CN104141509A (en) * | 2014-07-08 | 2014-11-12 | 中冶北方（大连）工程技术有限公司 | Moving-block technology-based method for dividing underground narrow-gauge track block section |
| CN107239068A (en) * | 2017-05-19 | 2017-10-10 | 中国神华能源股份有限公司 | Movable block Train control method, device and system |
| CN112590873A (en) * | 2020-12-11 | 2021-04-02 | 北京博途智控科技有限公司 | Method and system for controlling operation of suspended monorail train by adopting virtual moving block |
Families Citing this family (1)
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| CN102069826B (en) * | 2010-12-20 | 2013-08-07 | 华为技术有限公司 | Train movement authorization control method and radio block center |
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- 2005-07-19 CN CNB2005100122207A patent/CN100467322C/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101920710A (en) * | 2010-07-28 | 2010-12-22 | 北京交通大学 | Analyzing method of main track trafficability of urban rail transit in moving block |
| CN101916510A (en) * | 2010-08-18 | 2010-12-15 | 北京交通大学 | Method for analyzing main line trafficability of urban mass transit in quasi-moving block mode |
| CN102271986A (en) * | 2011-06-10 | 2011-12-07 | 华为技术有限公司 | Method, device and system for safety protection of train |
| WO2012167437A1 (en) * | 2011-06-10 | 2012-12-13 | 华为技术有限公司 | Safety protective method, apparatus and system for train |
| CN102271986B (en) * | 2011-06-10 | 2013-06-26 | 华为技术有限公司 | Method, device and system for safety protection of train |
| CN103547501A (en) * | 2011-06-23 | 2014-01-29 | 三菱电机株式会社 | Train operation control system |
| CN103547501B (en) * | 2011-06-23 | 2015-07-15 | 三菱电机株式会社 | Train operation control system |
| CN102307299A (en) * | 2011-09-16 | 2012-01-04 | 北京交通大学 | Track traffic remote observation system based on image |
| CN102407866A (en) * | 2011-10-08 | 2012-04-11 | 北京交控科技有限公司 | Train identification number tracking method under fixed blocked condition |
| CN102632910A (en) * | 2012-03-31 | 2012-08-15 | 北京大学 | Intelligent control system based on perceptual control high-speed train block section |
| CN102632910B (en) * | 2012-03-31 | 2015-08-19 | 北京大学 | A kind of high speed train block section intelligent control system controlled based on perception |
| CN103745300A (en) * | 2013-12-16 | 2014-04-23 | 北京交控科技有限公司 | Examination method and examination equipment |
| CN103745300B (en) * | 2013-12-16 | 2017-12-15 | 交控科技股份有限公司 | A kind of wire examination method and equipment |
| CN104141509A (en) * | 2014-07-08 | 2014-11-12 | 中冶北方（大连）工程技术有限公司 | Moving-block technology-based method for dividing underground narrow-gauge track block section |
| CN104141509B (en) * | 2014-07-08 | 2016-05-18 | 中冶北方（大连）工程技术有限公司 | The division methods of the down-hole narrow gauge track block section based on Moving Block Technology in UMT |
| CN107239068A (en) * | 2017-05-19 | 2017-10-10 | 中国神华能源股份有限公司 | Movable block Train control method, device and system |
| CN112590873A (en) * | 2020-12-11 | 2021-04-02 | 北京博途智控科技有限公司 | Method and system for controlling operation of suspended monorail train by adopting virtual moving block |
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| CN100467322C (en) | 2009-03-11 |
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