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Train automatic driving control system and control method with preset performance

A technology of automatic train driving and preset performance, which is applied in the direction of railway signal and safety, can solve problems such as inability to guarantee control performance, and achieve the effect of improving tracking control accuracy, reducing margin, and reducing the probability of braking

Active Publication Date: 2020-08-25
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are still two problems: firstly, the automatic driving system generally uses heuristic or trial-and-error methods when considering the constraints of the speed limit, so that the actual operation of the train does not touch the speed limit curve as much as possible, which cannot guarantee the control performance; There is a large margin between the target curve and the alarm curve, common braking curve, and emergency braking curve to prevent the error caused by tracking the target curve during the actual operation of the train from triggering braking, which affects the further improvement of efficiency

Method used

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  • Train automatic driving control system and control method with preset performance
  • Train automatic driving control system and control method with preset performance
  • Train automatic driving control system and control method with preset performance

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Embodiment 1

[0057] Such as figure 1 As shown, Embodiment 1 of the present invention provides a train automatic driving control system with preset performance, and the system includes:

[0058] The train operation strategy optimization module is used to optimize the train driving strategy in real time, generate a target position-speed curve, and transform the target position-speed curve into a target time-position curve and a target time-speed curve;

[0059] The train position protection module is used to obtain the current position of the train in real time, and calculates the train virtual control law in conjunction with the target time-position curve;

[0060] The train speed protection module is used to obtain the current speed of the train in real time, and calculate the actual control law of the train in combination with the target time-speed curve and the virtual control law;

[0061] The train control module is used to control the operation of the train according to the actual co...

Embodiment 2

[0095] Such as image 3 As shown, Embodiment 2 of the present invention provides a train automatic driving control system with preset performance, which is mainly composed of four modules:

[0096] Module 1: Driving strategy optimization module; Module 2: Position tracking error constraint module; Module 3: Speed ​​tracking error constraint module; Module 4: Train control module.

[0097] For module 1, module 1 optimizes the driving strategy in real time according to information such as line information, inter-station operation hours and temporary speed limits sent by the dispatch center, generates a target position-speed curve, and transforms the target position-speed curve into a target time-distance curve x 1r (t) and target time-velocity curve x 2r (t).

[0098] For module 2, module 2 calculates the train position according to the integral of the train speed information, and updates the train position according to the data of the positioning transponder, thereby calculat...

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Abstract

The invention provides a train automatic driving control system and method with a preset performance, and belongs to the technical field of train operation control. According to the system, through atrain operation strategy optimization module, a target position-speed curve is generated, and is converted into a target time-position curve and a target time-speed curve; the current position of thetrain is calculated in real time through a train position protection module, and the target time-position curve is combined to calculate a train virtual control law; the current speed of the train iscalculated in real time through a train speed protection module, and the target time-speed curve and the virtual control law are considered to calculate an actual control law of the train; train operation is controlled according to the actual control law through the train control module. According to the method and system, it is guaranteed that the position tracking error and the speed tracking error of the train are within a preset range, so that the tracking control precision of the train is improved, the probability of braking caused by poor control performance is effectively reduced, meanwhile, the margin between the target curve and a protection curve can be reduced, and the train operation efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of train operation control, in particular to a train automatic driving control system and control method with preset performance. Background technique [0002] The Automatic Train Operation (ATO) system has been put into use on a large scale in urban rail transit. With the Guangzhou-Foshan-Zhaocheng Intercity Railway and the Dongguan-Huizhou Intercity Railway in the Pearl River Delta starting to use, the intercity CTCS-2+ATO system (Chinese Train Control System Level 2+ATO) was officially put into use in China, realizing automatic driving for the first time in the trunk railway The technology meets the requirements of the train with a maximum speed of 200 kilometers per hour and a shortest interval of 3 minutes. However, due to factors such as long distances between high-speed railway stations, variable operating environments, and time-varying parameters during train operation, automatic driving technology ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B61L23/14
CPCB61L23/14
Inventor 董海荣高士根孙亚文宁滨
Owner BEIJING JIAOTONG UNIV
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