KR101078677B1 - Crewless operating method of a magnetic levitation train - Google Patents

Crewless operating method of a magnetic levitation train Download PDF

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KR101078677B1
KR101078677B1 KR1020090065164A KR20090065164A KR101078677B1 KR 101078677 B1 KR101078677 B1 KR 101078677B1 KR 1020090065164 A KR1020090065164 A KR 1020090065164A KR 20090065164 A KR20090065164 A KR 20090065164A KR 101078677 B1 KR101078677 B1 KR 101078677B1
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train
signal
magnetic levitation
injury
unmanned
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KR20110007638A (en
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강덕원
이종성
김경식
민영기
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현대로템 주식회사
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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
    • B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
    • B60L13/04—Magnetic suspension or levitation for vehicles
    • B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
    • 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
    • B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/08—Sliding or levitation systems
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B25/00—Tracks for special kinds of railways
    • E01B25/30—Tracks for magnetic suspension or levitation vehicles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/30—Railway vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

본 발명은 자기부상열차의 무인운행방법에 관한 것이다.The present invention relates to an unmanned driving method of a magnetic levitation train.

본 발명에 따른 자기부상열차의 무인운행방법은 자기부상열차에 구비된 전자석을 동작시키기 위한 전자석 동작신호를 인가하는 전자석 동작신호 인가단계와, 상기 전자석 동작신호를 인가받은 전자석의 동작상태가 정상모드인지 여부를 검지하는 전자석 동작상태 검지단계와, 상기 전자석의 상태가 정상모드인 경우 상기 자기부상열차를 부상시키기 위한 열차부상신호를 인가하는 열차부상신호 인가단계와, 상기 열차부상신호를 인가받은 자기부상열차의 부상상태가 정상모드인지 여부를 검지하는 제1 부상상태 검지단계와, 상기 부상 중인 자기부상열차가 기 설정된 무인출발조건을 충족시키는지 여부를 검지하는 무인출발조건충족여부 검지단계 및 상기 부상 중인 자기부상열차가 상기 기 설정된 무인출발조건을 충족시키는 경우 상기 자기부상열차를 출발시키기 위한 무인출발신호를 인가하는 무인출발신호 인가단계를 포함하여 구성된다.The unmanned driving method of the magnetic levitation train according to the present invention includes an electromagnet operation signal applying step for applying an electromagnet operation signal for operating an electromagnet provided in the maglev train, and the operation state of the electromagnet receiving the electromagnet operation signal is in a normal mode. Detecting whether the operation state of the electromagnet to detect whether or not, and if the state of the electromagnet is in the normal mode, the train injury signal applying step for applying a train injury signal for floating the magnetic levitation train, and the magnetism receiving the train injury signal A first injury state detection step of detecting whether the injured train is in a normal mode and an unmanned start condition detection step of detecting whether the injured maglev train meets a preset unmanned start condition and the above Maglev injuries when the injured maglev train satisfies the preset unmanned start condition For applying a starting signal for starting unattended car it is configured to include a step applying an unattended starting signal.

본 발명에 따르면, 자기부상열차의 완전무인운행이 가능해지는 효과가 있다.According to the present invention, there is an effect that the complete unmanned operation of the magnetic levitation train is possible.

자기부상열차, 전자석상태, 부상상태, 무인운행, 고장상태정보 Maglev train, electromagnet status, injury status, unmanned operation, failure status information

Description

자기부상열차의 무인운행방법{CREWLESS OPERATING METHOD OF A MAGNETIC LEVITATION TRAIN}CREWLESS OPERATING METHOD OF A MAGNETIC LEVITATION TRAIN}

본 발명은 자기부상열차의 무인운행방법에 관한 것이다. 보다 구체적으로, 본 발명은 기관사의 탑승없이도 안전한 운행이 가능한 자기부상열차의 완전무인운행방법에 관한 것이다.The present invention relates to an unmanned driving method of a magnetic levitation train. More specifically, the present invention relates to a completely unmanned operation method of the magnetic levitation train that can be safely operated without the driver's boarding.

자기부상열차는 레일로부터 약 8-10 mm 정도의 간격을 두고 부상하여 주행하는 열차이다.Maglev trains are trains that float and float about 8-10 mm apart from the rail.

일반적으로, 자기부상열차에는 운행과 관련된 신호들을 처리하기 차상신호장치, 열차를 부상을 위한 전자석과 이 전자석을 제어하는 부상제어기 등이 설치된다. 이러한 자기부상열차를 무인으로 제어하기 위해서는 차상신호장치와 부상제어기 사이의 원활한 인터페이스를 통하여 무인운전절차에 따라 자기부상열차의 부상, 착지 명령을 제어해야 한다. 또한, 주행중 부상상태를 모니터링하여 필요시 재 부상 명령 또는 종합 사령실에 전송하여 필요한 조치를 취할 수 있도록 해야한다.In general, the magnetic levitation train is equipped with an on-vehicle signal device for processing signals associated with the driving, an electromagnet for injuring the train and a levitation controller for controlling the electromagnet. In order to control the magnetic levitation train unattended, it is necessary to control the injury and landing command of the magnetic levitation train according to the unmanned operation procedure through the seamless interface between the vehicle signal device and the levitation controller. In addition, injuries during driving should be monitored and, if necessary, sent to reinjury orders or the general command room to take necessary actions.

종래의 자기부상열차의 차상신호장치는 부상을 제어하는 부상제어기와 인터 페이스하여 부상상태 입력만을 수신하도록 설계되었다.The on-vehicle signaling device of the conventional magnetic levitation train is designed to receive only the injury state input by interfacing with the injury controller that controls the injury.

그러나 종래의 이런 방식에 따르면, 자기부상열차의 완전무인운행이 불가능하다는 문제점이 있다.However, according to this conventional method, there is a problem that the complete unmanned operation of the magnetic levitation train is impossible.

보다 구체적으로, 종래의 방식에 따르면, 차상신호장치에는 열차의 부상상태에 관한 정보만이 수신되므로, 실질적인 부상 및 착지 등의 명령은 운전대에 설치된 관련 스위치를 승무원이 수동으로 조작해야만 수행될 수 있다.More specifically, according to the conventional method, since only the information on the injured state of the train is received in the on-vehicle signal device, the actual injuries and landing commands can be performed only by the crew manually operating the associated switch installed on the steering wheel. .

이에 따라, 차상신호시스템이 완전무인운전을 고려한 시스템일지라도 열차의 주행을 위해서는 승무원 또는 임의의 조작자가 탑승해야 하므로 완전무인운전을 구현하기가 어려운 문제점이 있었다.Accordingly, even if the onboard signal system is a system that considers the complete unmanned operation, it is difficult to implement a fully unmanned operation because a crew member or an arbitrary operator must board to drive the train.

본 발명은 기관사의 탑승없이도 안전한 운행이 가능한 자기부상열차의 완전무인운행방법을 제공하는 것을 기술적 과제로 한다.The present invention is to provide a completely unmanned operation method of the magnetic levitation train that can be safely operated without the driver's boarding.

또한, 본 발명은 자기부상열차의 운행 안전성을 향상시키고, 운행비용을 저감하는 것을 기술적 과제로 한다.In addition, the present invention is to improve the operating safety of the magnetic levitation train, and to reduce the running cost as a technical problem.

이러한 기술적 과제를 달성하기 위한 본 발명에 따른 자기부상열차의 무인운행방법은 자기부상열차에 구비된 전자석을 동작시키기 위한 전자석 동작신호를 인가하는 전자석 동작신호 인가단계와, 상기 전자석 동작신호를 인가받은 전자석의 동작상태가 정상모드인지 여부를 검지하는 전자석 동작상태 검지단계와, 상기 전자석의 상태가 정상모드인 경우 상기 자기부상열차를 부상시키기 위한 열차부상신호를 인가하는 열차부상신호 인가단계와, 상기 열차부상신호를 인가받은 자기부상열차의 부상상태가 정상모드인지 여부를 검지하는 제1 부상상태 검지단계와, 상기 부상 중인 자기부상열차가 기 설정된 무인출발조건을 충족시키는지 여부를 검지하는 무인출발조건충족여부 검지단계 및 상기 부상 중인 자기부상열차가 상기 기 설정된 무인출발조건을 충족시키는 경우 상기 자기부상열차를 출발시키기 위한 무인출발신호를 인가하는 무인출발신호 인가단계를 포함하여 구성된다.The unmanned driving method of the magnetic levitation train according to the present invention for achieving the technical problem is an electromagnet operation signal applying step for applying an electromagnet operation signal for operating the electromagnet provided in the magnetic levitation train, and receiving the electromagnet operation signal An electromagnet operation state detecting step of detecting whether the operation state of the electromagnet is in a normal mode; and a train injury signal applying step of applying a train injury signal for injuring the maglev train when the electromagnet is in a normal mode; A first injury state detection step of detecting whether the injured state of the maglev train receiving the train injury signal is in the normal mode, and the unmanned departure that detects whether the injured maglev train satisfies a preset unmanned starting condition. Detecting whether the condition is satisfied and the injured magnetic levitation train is the predetermined unmanned starting aid And a non-starting signal applying step of applying a non-starting signal for starting the maglev train when the gun is satisfied.

본 발명에 따른 자기부상열차의 무인운행방법은 추가적으로 상기 무인출발신 호를 인가받아 운행 중인 자기부상열차의 부상상태가 정상모드인지 여부를 검지하는 제2 부상상태 검지단계와, 상기 무인출발신호를 인가받아 운행 중인 자기부상열차의 부상상태가 비정상모드인 경우 상기 자기부상열차를 정차시키는 열차 정차단계와, 상기 정차 중인 자기부상열차를 재부상시키기 위한 열차재부상신호를 인가하는 열차재부상신호 인가단계와, 상기 재부상중인 자기부상열차의 부상상태가 정상모드인지 여부를 검지하는 제3 부상상태 검지단계 및 상기 재부상중인 자기부상열차의 부상상태가 정상모드인 경우 상기 재부상중인 자기부상열차를 재출발시키는 열차 재출발 단계를 더 포함하여 구성되는 것이 바람직하다.The unmanned driving method of the magnetic levitation train according to the present invention further includes a second injury state detecting step of detecting whether the floating state of the magnetic levitation train in operation in response to the unmanned outgoing call is in the normal mode, and the unmanned starting signal. When the floating state of the magnetic levitation train in operation is in an abnormal mode, the train stopping step for stopping the magnetic levitation train and the train resuspension signal for applying a train resuspension signal for re-emergence of the stationary magnetic levitation train And a third injury state detecting step of detecting whether the injured state of the re-injured maglev train is in the normal mode and the maglev train in the resuspension when the injured state of the re-injured maglev train is in normal mode. It is preferable that the train further comprises a restarting step of restarting the train.

본 발명에 따른 자기부상열차의 무인운행방법은 추가적으로 상기 재부상중인 자기부상열차의 부상상태가 비정상모드인 경우 상기 재부상중인 자기부상열차의 고장상태정보를 출력하는 고장상태정보 출력단계를 더 포함하여 구성되는 것이 바람직하다.The unmanned driving method of the magnetic levitation train according to the present invention further includes a failure state information outputting step of outputting fault status information of the magnetic levitation train being re-injured when the floating state of the magnetic levitation train is being re-injured. It is preferable to be configured.

본 발명에 따르면, 자기부상열차의 운행을 위하여 자기부상열차에 탑승한 기관사의 역할을 요구하지 않으므로, 자기부상열차의 완전무인운행이 가능해지는 효과가 있다.According to the present invention, since the role of the engineer in the maglev train is not required for the operation of the maglev train, there is an effect that the fully unmanned operation of the maglev train becomes possible.

또한, 자기부상열차의 운행 안전성이 향상되고, 운행비용이 저감되는 효과가 있다.In addition, the driving safety of the magnetic levitation train is improved, and the running cost is reduced.

이하에서는 첨부된 도면을 참조하여 본 발명의 바람직한 실시 예들을 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명의 일 실시 예에 따라 차상신호장치와 부상제어기 간의 인터페이스를 통한 자기부상열차의 무인운행시스템을 개념적으로 설명하기 위한 도면이고, 도 2는 본 발명의 일 실시 예에 따른 자기부상열차의 무인운행방법을 나타낸 도면이다.FIG. 1 is a view for conceptually explaining an unmanned driving system of a magnetic levitation train through an interface between an onboard signal device and a lift controller according to an embodiment of the present invention, and FIG. 2 is a magnetic levitation according to an embodiment of the present invention. A diagram showing an unmanned driving method of a train.

도 1 및 도 2를 참조하면, 본 발명의 일 실시 예에 따른 자기부상열차의 무인운행방법은 전자석 동작신호 인가단계(S11), 전자석 동작상태 검지단계(S12), 열차부상신호 인가단계(S13), 제1 부상상태 검지단계(S14), 무인출발조건충족여부 검지단계(S15), 무인출발신호 인가단계(S16), 제2 부상상태 검지단계(S20), 열차 정차단계(S24), 열차재부상신호 인가단계(S25), 제3 부상상태 검지단계(S26) 및 열차 재출발 단계(S27)를 포함하여 구성된다.1 and 2, the unmanned driving method of the magnetic levitation train according to an embodiment of the present invention is the electromagnet operation signal application step (S11), the electromagnet operation state detection step (S12), the train injury signal application step (S13) ), The first injury state detection step (S14), the unmanned start condition detection step (S15), the unmanned start signal application step (S16), the second injury state detection step (S20), the train stop step (S24), the train It comprises a re-injury signal applying step (S25), the third floating state detection step (S26) and the train restarting step (S27).

<전자석 동작신호 인가단계(S11)><Electromagnetic operation signal applying step (S11)>

전자석 동작신호 인가단계(S11)에서, 자기부상열차에 구비된 전자석을 동작시키기 위한 전자석 동작신호를 인가한다.In the step of applying the electromagnet operation signal (S11), an electromagnet operation signal for operating the electromagnet provided in the maglev train is applied.

한편, 차상신호장치에는 자기부상열차를 안정적으로 무인운행하기 위한 여러 가지 무인운전 설정조건들이 저장되어 있다. 예를 들어, 무인운전 설정조건에는 동작신호를 인가받아 동작하는 전자석의 동작상태정보, 부상신호를 인가받아 동작하 는 자기부상열차의 부상상태정보 등이 있을 수 있다. 후술하겠지만, 본 실시 예는 자기부상열차의 운행 과정에서 자기부상열차의 상태정보를 이러한 무인운전 설정조건들과 수시로 비교함으로써, 자기부상열차의 운행 안전성을 향상시킨다.On the other hand, the on-vehicle signal device stores a variety of unmanned operation setting conditions for the stable unmanned operation of the maglev train. For example, the unmanned driving setting condition may include operation state information of an electromagnet operated by receiving an operation signal, and injury state information of a magnetic levitation train operated by receiving an injury signal. As will be described later, the present embodiment improves the operation safety of the magnetic levitation train by frequently comparing the state information of the magnetic levitation train with these unmanned operation setting conditions in the course of the operation of the magnetic levitation train.

<전자석 동작상태 검지단계(S12)><Electromagnetic operation state detection step (S12)>

전자석 동작상태 검지단계(S12)에서는, 전자석 동작신호를 인가받아 동작하는 전자석의 동작상태가 정상모드인지 여부를 검지한다.In the electromagnet operation state detecting step (S12), it is detected whether or not the operation state of the electromagnet operated by receiving the electromagnet operation signal is in the normal mode.

보다 구체적으로, 전자석 동작상태 검지단계(S12)에서는, 전자석 동작신호를 인가받아 동작하는 전자석의 동작상태를 기 설정된 무인운전 설정조건과 비교하여, 1) 전자석의 동작상태가 허용 범위 내에 있는 경우, 전자석의 상태가 정상모드임을 나타내는 신호를 출력하고, 2) 전자석의 동작상태가 허용 범위 밖에 있는 경우, 전자석의 상태가 비 정상모드임을 나타내는 신호를 출력한다.More specifically, in the electromagnet operation state detection step (S12), when the operation state of the electromagnet operated by receiving the electromagnet operation signal is compared with the preset unmanned operation setting condition, 1) when the operation state of the electromagnet is within the allowable range, Outputs a signal indicating that the electromagnet is in normal mode; and 2) if the operating state of the electromagnet is outside the permissible range, outputs a signal indicating that the electromagnet is in non-normal mode.

전자석의 상태가 비 정상모드임을 나타내는 신호가 출력되는 경우, 다시 전자석 동작신호를 대기하는 단계로 전환된다.When a signal indicating that the state of the electromagnet is in an abnormal mode is outputted, the process is switched to waiting for the electromagnet operation signal.

<열차부상신호 인가단계(S13)><Train injury signal applying step (S13)>

열차부상신호 인가단계(S13)에서는, 전자석 동작상태 검지단계(S12)에서 전자석의 상태가 정상모드임을 나타내는 신호를 입력받은 경우, 자기부상열차를 부상시키기 위한 열차부상신호를 인가한다. 이에 따라, 자기부상열차가 레일로부터 부상하게 된다. 이 부상상태를 제1 부상상태로 정의한다.In the train injury signal applying step (S13), when a signal indicating that the state of the electromagnet is in the normal mode is input in the electromagnet operation state detection step (S12), a train injury signal for injuring the maglev train is applied. As a result, the maglev train rises from the rail. This floating state is defined as the first floating state.

<제1 부상상태 검지단계(S14)><First injury state detection step (S14)>

제1 부상상태 검지단계(S14)에서는, 열차부상신호를 인가받은 자기부상열차의 부상상태 즉, 제1 부상상태가 정상모드인지 여부를 검지한다.In the first injury state detection step (S14), it is detected whether an injury state of the magnetic levitation train, to which the train injury signal is applied, that is, whether the first injury state is the normal mode.

보다 구체적으로, 제1 부상상태 검지단계(S14)에서는, 열차부상신호를 인가받아 부상하는 자기부상열차의 부상상태를 기 설정된 무인운전 설정조건과 비교하여, 1) 자기부상열차의 부상상태가 허용 범위 내에 있는 경우, 자기부상열차의 부상상태가 정상모드임을 나타내는 신호를 출력하고, 2) 자기부상열차의 부상상태가 허용 범위 밖에 있는 경우, 자기부상열차의 부상상태가 비 정상모드임을 나타내는 신호를 출력한다.More specifically, in the first injury state detection step (S14), by comparing the injury state of the magnetic levitation train that is injured by receiving the train injury signal with the preset unmanned operation setting conditions, 1) the injury state of the magnetic levitation train is allowed. If it is within the range, it outputs a signal indicating that the floating state of the maglev train is in normal mode, and 2) when the floating state of the maglev train is outside the permissible range, it displays a signal indicating that the floating state of the maglev train is in abnormal mode. Output

자기부상열차의 부상상태가 비 정상모드임을 나타내는 신호가 출력되는 경우, 다시 전자석 동작신호를 대기하는 단계로 전환된다.When a signal indicating that the floating state of the magnetic levitation train is in an abnormal mode is output, the process is switched to waiting for the electromagnet operation signal.

<무인출발조건충족여부 검지단계(S15)><Step of detecting whether unmanned starting condition is satisfied (S15)>

무인출발조건충족여부 검지단계(S15)에서는, 부상 중인 자기부상열차가 기 설정된 무인출발조건을 충족시키는지 여부를 검지한다. 무인출발조건이란 전자석의 동작상태와 자기부상열차의 부상상태를 제외한 상태정보이다. 이러한 무인출발조건의 예로, 화재 경보신호, 출입문 열림상태 표시신호 등이 있다. 이러한 신호들이 입력되지 않는 경우, 무인출발조건이 충족된다.In the step S15 of detecting whether the unmanned starting condition is satisfied, whether the injured maglev train satisfies the preset unmanned starting condition is detected. Unmanned starting condition is state information excluding operation state of electromagnet and floating state of maglev train. Examples of such unmanned starting conditions include a fire alarm signal and a door open state indication signal. If these signals are not input, the unattended starting condition is satisfied.

<무인출발신호 인가단계(S16)><Unmanned start signal applying step (S16)>

무인출발신호 인가단계(S16)에서는, 부상 중인 자기부상열차가 기 설정된 무인출발조건을 충족시키는 경우 자기부상열차를 출발시키기 위한 무인출발신호를 인가한다. 이에 따라, 자기부상열차는 무인운행을 시작하여, 역간 주행을 개시한다.In the unmanned start signal application step (S16), when the floating magnetic levitation train satisfies a preset unmanned start condition, the unmanned start signal for starting the magnetic levitation train is applied. Accordingly, the magnetic levitation train starts unmanned driving and starts traveling between stations.

<제2 부상상태 검지단계(S20)><Second injury state detection step (S20)>

제2 부상상태 검지단계(S20)에서는, 무인출발신호를 인가받아 운행 중인 자기부상열차의 부상상태가 정상모드인지 여부를 검지한다. 이에 따라, 운행 중인 자기부상열차의 부상상태를 검지할 수 있게 된다. 이 부상상태를 제2 부상상태로 정의한다.In the second injury state detection step (S20), whether the floating state of the magnetic levitation train in operation by receiving the unmanned start signal is detected whether the normal mode. Accordingly, the floating state of the magnetic levitation train in operation can be detected. This floating state is defined as the second floating state.

이러한 제2 부상상태에 대한 검지는 예를 들어 소정의 시간 간격마다 반복적으로 수행할 수 있다.Detection of such a second floating state can be performed repeatedly, for example at predetermined time intervals.

이러한 제2 부상상태 검지단계(S20)를 통하여, 자기부상열차의 부상상태가 정상모드임을 나타내는 신호를 입력받은 경우, 자기부상열차의 운행을 계속하며, 운행의 목표지점에 도달하는 경우 자기부상열차를 정위치에 정차(S21)시키고, 자기부상열차를 착지(S22)시킨 후, 출입문을 개방(S23)한다.Through the second injury state detection step (S20), when a signal indicating that the injured state of the magnetic levitation train is in the normal mode is input, the operation of the magnetic levitation train is continued, and when the target point of operation is reached, the magnetic levitation train Stop at the correct position (S21), land the magnetic levitation train (S22), and then open the door (S23).

<열차 정차단계(S24)><Train stop step (S24)>

열차 정차단계(S24)에서는, 무인출발신호를 인가받아 운행 중인 자기부상열차의 부상상태가 비정상모드인 경우 자기부상열차를 정차시킨다.In the train stop step (S24), when the floating state of the magnetic levitation train in operation in response to the unmanned start signal is stopped in the magnetic levitation train.

보다 구체적으로, 제2 부상상태 검지단계(S20)로부터 운행 중인 자기부상열차의 부상상태가 비 정상모드임을 나타내는 신호를 입력받은 경우, 운행 안전을 위하여 자기부상열차에 제동을 가하여 정차시킨다.More specifically, when a signal indicating that the floating state of the magnetic levitation train in operation from the second floating state detection step (S20) is input, the vehicle is stopped by applying a brake to the magnetic levitation train for driving safety.

<열차재부상신호 인가단계(S25)><Train resuspension signal applying step (S25)>

열차재부상신호 인가단계(S25)에서는, 정차 중인 자기부상열차를 재부상시키기 위한 열차재부상신호를 인가한다. 이에 따라, 자기부상열차가 레일로부터 재부상하게 된다. 이 부상상태를 제3 부상상태로 정의한다.In the train reinstatement signal applying step (S25), a train reinstatement signal for resuspending the suspended magnetic levitation train is applied. As a result, the magnetic levitation train is re-injured from the rail. This floating state is defined as the third floating state.

<제3 부상상태 검지단계(S26)><3rd injury state detection step (S26)>

제3 부상상태 검지단계(S26)에서는, 재부상중인 자기부상열차의 부상상태 즉, 제3 부상상태가 정상모드인지 여부를 검지한다.In the third injured state detection step S26, it is detected whether the injured state of the magnetic levitation train under re-injury, that is, the third injured state is in the normal mode.

보다 구체적으로, 제3 부상상태 검지단계(S26)에서는, 열차재부상신호를 인가받아 재부상하는 자기부상열차의 제3 부상상태를 기 설정된 무인운전 설정조건과 비교하여, 1) 자기부상열차의 제3 부상상태가 허용 범위 내에 있는 경우, 자기부상열차의 제3 부상상태가 정상모드임을 나타내는 신호를 출력하고, 2) 자기부상열차의 제3 부상상태가 허용 범위 밖에 있는 경우, 자기부상열차의 제3 부상상태가 비 정상모드임을 나타내는 신호를 출력한다.More specifically, in the third injury state detection step (S26), by comparing the third injury state of the magnetic levitation train that is re-injured by the train re-injury signal is compared with the preset unmanned operation setting conditions, 1) When the third floating state is within the allowable range, a signal indicating that the third floating state of the maglev train is in a normal mode is output. 2) When the third floating state of the maglev train is outside the permissible range, A signal indicating that the third floating state is an abnormal mode is output.

<열차 재출발 단계(S27)><Train restarting step (S27)>

열차 재출발 단계(S27)에서는, 재부상중인 자기부상열차의 제3 부상상태가 정상모드인 경우 재부상중인 자기부상열차를 재출발시킨다.In the train restarting step S27, when the third floating state of the resuspended maglev train is in the normal mode, the maglev train restarted is restarted.

<고장상태정보 출력단계(S28)><Fault status information output step (S28)>

고장상태정보 출력단계(S28)에서는, 재부상중인 자기부상열차의 부상상태가 비정상모드인 경우, 재부상중인 자기부상열차의 고장상태정보를 출력한다. 예를 들어, 이 정보는 열차 운행을 종합적으로 관제하는 종합 사령실로 전송되어, 자기부상열차의 운행을 정상화하기 위한 정보로 활용된다.In the failure state information output step S28, when the floating state of the re-suspension of the magnetic levitation train is an abnormal mode, the failure state information of the re-injury maglev train is output. For example, this information is transmitted to a general command room that comprehensively controls the operation of trains, and is used as information for normalizing the operation of maglev trains.

이상에서 상세히 설명한 바와 같이 본 발명의 실시 예에 따르면, 자기부상열차의 운행을 위하여 자기부상열차에 탑승한 기관사의 역할을 요구하지 않으므로, 자기부상열차의 완전무인운행이 가능해지는 효과가 있다.As described in detail above, according to an embodiment of the present invention, since the role of the engineer in the maglev train is not required for the operation of the maglev train, the unmanned operation of the maglev train becomes possible.

이상에서 본 발명에 대한 기술사상을 첨부도면과 함께 서술하였지만 이는 본 발명의 바람직한 실시 예를 예시적으로 설명한 것이지 본 발명을 한정하는 것은 아니다. 또한, 이 기술 분야의 통상의 지식을 가진 자라면 누구나 본 발명의 기술사상의 범주를 이탈하지 않는 범위 내에서 다양한 변형 및 모방이 가능함은 명백한 사실이다.Although the technical spirit of the present invention has been described above with reference to the accompanying drawings, this is intended to describe exemplary embodiments of the present invention by way of example and not to limit the present invention. In addition, it is obvious that any person skilled in the art can make various modifications and imitations without departing from the scope of the technical idea of the present invention.

도 1은 본 발명의 일 실시 예에 따라 차상신호장치와 부상제어기 간의 인터페이스를 통한 자기부상열차의 무인운행시스템을 개념적으로 설명하기 위한 도면이다.FIG. 1 is a diagram for conceptually explaining an unmanned driving system of a magnetic levitation train through an interface between an onboard signal device and a lift controller according to an embodiment of the present invention.

도 2는 본 발명의 일 실시 예에 따른 자기부상열차의 무인운행방법을 나타낸 도면이다.2 is a view showing an unmanned driving method of the magnetic levitation train according to an embodiment of the present invention.

***** 도면의 주요 부분에 대한 부호의 설명 ********** Explanation of symbols for the main parts of the drawing *****

S11: 전자석 동작신호 인가단계S11: applying the electromagnet operation signal

S12: 전자석 동작상태 검지단계S12: Electromagnet operation state detection step

S13: 열차부상신호 인가단계S13: Train injury signal applying step

S14: 제1 부상상태 검지단계S14: first injury state detection step

S15: 무인출발조건충족여부 검지단계S15: Detecting whether the unmanned starting condition is met

S16: 무인출발신호 인가단계S16: step of applying unmanned start signal

S20: 제2 부상상태 검지단계S20: second injury state detection step

S24: 열차 정차단계S24: train stops

S25: 열차재부상신호 인가단계S25: Train re-injury signal applying step

S26: 제3 부상상태 검지단계S26: third injury state detection step

S27: 열차 재출발 단계S27: Train starting again

S28: 고장상태정보 출력단계S28: fault status information output step

Claims (3)

자기부상열차의 무인운행방법에 있어서,In the unmanned operation method of the magnetic levitation train, 상기 자기부상열차에 구비된 전자석을 동작시키기 위한 전자석 동작신호를 인가하는 전자석 동작신호 인가단계;An electromagnet operation signal applying step of applying an electromagnet operation signal for operating the electromagnet provided in the maglev train; 상기 전자석 동작신호를 인가받은 전자석의 동작상태가 정상모드인지 여부를 검지하는 전자석 동작상태 검지단계;An electromagnet operation state detecting step of detecting whether an operation state of the electromagnet receiving the electromagnet operation signal is in a normal mode; 상기 전자석의 상태가 정상모드인 경우 상기 자기부상열차를 부상시키기 위한 열차부상신호를 인가하는 열차부상신호 인가단계;A train injury signal applying step of applying a train injury signal for floating the magnetic levitation train when the electromagnet is in a normal mode; 상기 열차부상신호를 인가받은 자기부상열차의 부상상태가 정상모드인지 여부를 검지하는 제1 부상상태 검지단계;A first injury state detecting step of detecting whether an injury state of the maglev train receiving the train injury signal is in a normal mode; 상기 열차부상신호를 인가받아 부상 중인 자기부상열차가 기 설정된 무인출발조건을 충족시키는지 여부를 검지하는 무인출발조건충족여부 검지단계;Detecting whether an unmanned starting condition is satisfied by receiving the train injury signal and detecting whether an injured maglev train satisfies a preset unmanned starting condition; 상기 열차부상신호를 인가받아 부상 중인 자기부상열차가 상기 기 설정된 무인출발조건을 충족시키는 경우 상기 자기부상열차를 출발시키기 위한 무인출발신호를 인가하는 무인출발신호 인가단계;An unmanned start signal applying step of applying an unmanned start signal for starting the magnetic levitation train when the floating magnetic levitation train satisfies the preset unmanned start condition by receiving the train injury signal; 상기 무인출발신호를 인가받아 운행 중인 자기부상열차의 부상상태가 정상모드인지 여부를 검지하는 제2 부상상태 검지단계;A second injury state detection step of detecting whether an injury state of the magnetic levitation train in operation in response to the unmanned start signal is in a normal mode; 상기 무인출발신호를 인가받아 운행 중인 자기부상열차의 부상상태가 비정상모드인 경우 상기 자기부상열차를 정차시키는 열차 정차단계;A train stopping step of stopping the magnetic levitation train when the floating state of the magnetic levitation train in operation under the unmanned start signal is in an abnormal mode; 정차 중인 상기 자기부상열차를 재부상시키기 위한 열차재부상신호를 인가하는 열차재부상신호 인가단계;A train resuscitation signal applying step for applying a train reinstatement signal to reinstate the suspended magnetic levitation train; 상기 열차재부상신호를 인가받아 재부상중인 자기부상열차의 부상상태가 정상모드인지 여부를 검지하는 제3 부상상태 검지단계;A third injury state detection step of detecting whether an injury state of the magnetic levitation train which is being re-injured in the normal mode by receiving the train re-injury signal; 상기 열차재부상신호를 인가받아 재부상중인 자기부상열차의 부상상태가 정상모드인 경우 상기 열차재부상신호를 인가받아 재부상중인 자기부상열차를 재출발시키는 열차 재출발 단계를 포함하는, 자기부상열차의 무인운행방법.A train restarting step of restarting the magnetic levitation train being re-injured by receiving the train re-injury signal when the floating state of the magnetic levitation train is being re-injured by receiving the train re-injury signal. Unmanned Operation. 삭제delete 제1 항에 있어서,The method according to claim 1, 상기 열차재부상신호를 인가받아 재부상중인 자기부상열차의 부상상태가 비정상모드인 경우 상기 열차재부상신호를 인가받아 재부상중인 자기부상열차의 고장상태정보를 출력하는 고장상태정보 출력단계를 포함하는 것을 특징으로 하는, 자기부상열차의 무인운행방법.And a fault status information output step of outputting fault status information of the magnetic levitation train re-injured by receiving the train re-injury signal when the floating state of the magnetic levitation train is being re-injured by receiving the train re-injury signal. Unmanned operation method of the magnetic levitation train, characterized in that.
KR1020090065164A 2009-07-17 2009-07-17 Crewless operating method of a magnetic levitation train KR101078677B1 (en)

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