CN102991489B - To idle running and the skid safe locomotive velocity measuring ranging system and method that detect and compensate - Google Patents
To idle running and the skid safe locomotive velocity measuring ranging system and method that detect and compensate Download PDFInfo
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Abstract
The invention discloses a kind of to idle running and the skid safe locomotive velocity measuring ranging system and method that detect and compensate, it is characterized in that, comprise acceleration transducer signals acquisition and processing module, speed sensor signal acquisition and processing module, acceleration/accel skidding determination module, speed skidding determination module, locomotive velocity measuring range finding compensation calculation module, train speed indeterminacy of calculation module.The present invention can sensitive accurate detection tyre skidding or locking can compensate train speed.
Description
Technical field
The invention belongs to safety of urban transit signal field, specifically one is applied to the locomotive velocity measuring distance-finding method in train automatic controlling system (ATC).
Background technology
In safety of urban transit signal field, vehicle-mounted automatic train protection system ATP system generally adopts revolution counter to measure train speed, these outside speed measuring equipments are arranged on the brake axle of trailer usually, automatic train protection system ATP system, by gathering, analyzing the sensor signal of outside speed measuring equipment, calculates wheel velocity.
In braking procedure, when the braking force that vehicle applies is greater than adhesion maximum between wheel track, wheel there will be skidding or locking phenomenon, now, cannot reflect train speed accurately according to the wheel velocity that the sensor signal of the speed measuring equipment collection be arranged on brake axle is calculated.Vehicle-mounted automatic train protection system ATP system should be able to detect the phenomenon of tyre skidding or locking accurately, and can compensate train speed.
At present, the modal method for detecting tyre skidding carries out differential to the wheel velocity measured, and calculates the deceleration/decel of wheel, that is: A
wheel=(V
wheel(n)-V
wheel (n-1))/T
cycle, by by A
wheelwith fixing empirical parameter A
slipcompare and judge whether wheel occurs skidding.There are following three defects in this method:
1, rail line road conditions are comparatively complicated, and train easily occurs mechanical vibration in motion process; Meanwhile, the electric wiring of vehicle is more complicated, easily occurs electromagnetic crosstalk when gathering the sensor signal of speed measuring equipment.Both of these case can result through the wheel velocity V gathering and calculate
wheelthere is distortion, A
wheelvalue produces larger error, occurs that tyre skidding is judged by accident.
2, the fixing empirical parameter A of tyre skidding is judged
sliprelevant with the adhesion coefficient of rail rail level, rail line Rail Surface is easily subject to the pollutant effects such as rainwater, iron rust or other particulate matter, causes the adhesion coefficient of rail to occur sharply reducing, although now skidding, according to A has appearred in wheel
wheelwith A
slipcannot judge.
3, rail transit train is equipped with the automatic antiblock device of wheel (WSP), after detecting that wheel sliding or locking phenomenon occur, by antiskid valve, pressurize, exhaust, ventilating control is carried out to brake cylinder, make wheel return to normal mode of operation.In automatic antiblock device (WSP) working process, A
wheelthe change procedure of value first sharply declines, then steady gradually, the final stable value returned to when not skidding that rises.Now, according to A
wheelwith A
slipcannot detect whole wheel sliding process, particularly accurately judge when tyre skidding terminates, cause occurring relatively large deviation in velocity compensation process.
The another kind of method detecting wheel sliding is the velocity contrast by calculating between wheel velocity and train reference speed, that is: V
diff=V
ref-V
wheel, by by V
diffwith fixing empirical parameter V
slipcompare and judge whether wheel occurs skidding.There are following two defects in this method:
1, train reference speed chooses not science, in braking procedure, and V
refusually maximum that of several axletree medium speeds of assembling speed measuring equipment is chosen, when occurring that all axletrees skid simultaneously, V
referror is larger.
2, owing to adopting fixing empirical parameter V
slipjudge tyre skidding, when train speed is lower, easily cause judging that tyre skidding is slow; When train speed is higher, easily cause judging that tyre skidding is too sensitive, occur erroneous judgement.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of to idle running and the safe locomotive velocity measuring ranging system that detects and compensate of skidding, and it can sensitive accurate detection tyre skidding or locking can compensate train speed.
In order to solve above technical matters, the invention provides a kind of to idle running and the safe locomotive velocity measuring ranging system detecting and compensate that skids, it is characterized in that, comprise acceleration transducer signals acquisition and processing module, speed sensor signal acquisition and processing module, acceleration/accel skidding determination module, speed skidding determination module, locomotive velocity measuring range finding compensation calculation module, train speed indeterminacy of calculation module.There are specific data transmission relations between above-mentioned 6 functional modules, the output that in described acceleration transducer signals acquisition and processing module, speed sensor signal acquisition and processing module, acceleration/accel skidding determination module, speed skidding determination module, locomotive velocity measuring range finding compensation calculation module, train speed indeterminacy of calculation module, prior module produces is the input of subsequent module, and the output of subsequent module forms the input of prior module in the next algorithm cycle.
Beneficial effect of the present invention is: can sensitive accurate detection tyre skidding or locking can compensate train speed.
To idle running and the safe locomotive velocity measuring distance-finding method detecting and compensate that skids, according to the acceleration/accel that the acceleration pick-up be arranged on car body calculates, the acceleration/accel that accelerometer measures draws:
A
measure＝A
train+gsina；
The acceleration/accel that wheel calculates: A
wheel=A
train+ A
wheelslip;
If do not occur skidding: A
diff=A
measure-A
wheel=gsina;
If, A
diff>=db
grade+ A
sliptolerance, then think and occur tyre skidding;
Wherein:
A
measure: the acceleration/accel that accelerometer is measured;
A
wheel: by carrying out the acceleration/accel that differential calculation draws to wheel velocity;
A
train: car body acceleration;
Gsina: the acceleration/accel that circuit ramp produces;
A
wheelslip: the acceleration change amount that wheel sliding produces;
A
diff: acceleration/accel difference;
Db
grade: the ramp acceleration information that automatic train protection system ATP system obtains from Wiring configuration data storehouse according to the location information of train;
A
sliptolerance: judge whether that the acceleration/accel occurring tyre skidding slides tolerance value according to acceleration/accel difference.
Adopt speed sensor as the basic equipment of locomotive velocity measuring, adopt accelerometer as the accessory equipment judging tyre skidding and locking, and under wheel slip state, train speed is compensated.
To speed sensor measure original car wheel speed, first-order low-pass ripple is carried out to accelerometer measures acceleration/accel out.
Acceleration/accel difference is adopted whether to occur that tyre skidding judges to train.
Adopt accelerometer measures accekeration out as the foundation calculating train reference speed and speed difference.
Speed difference is adopted whether to occur that tyre skidding judges to train.
Judge whether wheel occurs that family of power and influence's value of skidding adjusts according to train speed, slipping state according to speed difference.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is the fundamental diagram of speed-measuring method of the present invention;
Fig. 2 is the flow chart of speed-measuring method of the present invention;
Fig. 3 is that speed-measuring method of the present invention judges the program flow diagram of tyre skidding according to acceleration/accel difference;
Fig. 4 is that speed-measuring method of the present invention judges the program flow diagram of tyre skidding according to speed difference;
Fig. 5 is speed-measuring method design sketch of the present invention.
Detailed description of the invention
The present invention can realize carrying out Measurement accuracy to track traffic train speed, eliminate in braking procedure the tyre skidding or locking that occur to the impact of train speed survey precision, devise and a kind ofly Sensitive Detection can go out tyre skidding and locking and the distance-finding method that tests the speed that can compensate train speed.
Of the present invention can sensitive accurate detection tyre skidding or locking the speed-measuring method that can compensate train speed, the method can be applied to fields such as including but are not limited to: urban railway transit train control system.
The principle of work of this method: as shown in Figure 1, according to the acceleration/accel being arranged on acceleration pick-up that car body (keeps level with car body) and calculating, the acceleration/accel that accelerometer measures draws:
A
measure＝A
train+gsina
The acceleration/accel that wheel calculates: A
wheel=A
train+ A
wheelslip
If do not occur skidding: A
diff=A
measure-A
wheel=gsina
If, A
diff>=db
grade+ A
sliptolerance, then think and occur tyre skidding
Wherein:
A
measure: the acceleration/accel that accelerometer is measured;
A
wheel: by carrying out the acceleration/accel that differential calculation draws to wheel velocity;
A
train: car body acceleration;
Gsina: the acceleration/accel that circuit ramp produces;
A
wheelslip: the acceleration change amount that wheel sliding produces;
A
diff: acceleration/accel difference;
Db
grade: the ramp acceleration information that automatic train protection system ATP system obtains from Wiring configuration data storehouse according to the location information of train; ;
A
sliptolerance: judge whether that the acceleration/accel occurring tyre skidding slides tolerance value according to acceleration/accel difference.
The detailed design plan of this method:
As shown in Figure 2, be made up of acceleration transducer signals acquisition and processing module (1), speed sensor signal acquisition and processing module (2), acceleration/accel skidding determination module (3), speed skidding determination module (4), locomotive velocity measuring range finding compensation calculation module (5), train speed indeterminacy of calculation module (6).The key of this algorithm is the design of acceleration/accel skidding determination module, speed skidding determination module, locomotive velocity measuring range finding compensation calculation, train speed indeterminacy of calculation module.
The design plan of acceleration/accel skidding determination module, as shown in Figure 3:
1, to speed sensor survey calculation wheel velocity V out
measure, acceleration pick-up survey calculation accekeration A out
measurecarry out the process of first-order low-pass ripple, eliminate the sensor signal distortion because mechanical vibration or electromagnetic crosstalk cause.
V
wheel＝(1-1/p
wheel)*V
wheel(n-1)+1/p
wheel*V
measure；
A
filter＝(1-1/p
filter)*A
filter(n-1)+1/p
filter*A
measure；
Wherein:
V
wheel: the wheel velocity after the process of first-order low-pass ripple;
P
wheel: wheel velocity filtering factor;
A
filter: the acceleration/accel after the process of first-order low-pass ripple;
P
filter: acceleration/accel filtering factor.
2, to wheel velocity V
wheelcarry out differential calculation wheel acceleration A
wheel.
A
wheel＝(V
wheel-V
wheel(n-1))/T
cycle。
Wherein:
T
cycle: the period that method performs.
3, the accekeration A through the process of first-order low-pass ripple is calculated
filterwith wheel acceleration A
wheelbetween difference A
diff.
A
diff＝A
filter-A
wheel；
4, according to acceleration/accel difference A
diffjudge whether to occur tyre skidding.
A
diff≥db
grade+A
sliptolerance
The design plan of speed skidding determination module, as shown in Figure 4:
1, to speed sensor survey calculation wheel velocity V out
measure, acceleration pick-up survey calculation accekeration A out
measurecarry out the process of first-order low-pass ripple, eliminate the sensor signal distortion because mechanical vibration or electromagnetic crosstalk cause.
V
wheel＝(1-1/p
wheel)*V
wheel(n-1)+1/p
wheel*V
measure；
A
filter＝(1-1/p
filter)*A
filter(n-1)+1/p
filter*A
measure；
2, the car body acceleration A of train is calculated
train
A
train＝A
filter-db
grade
3, the reference velocity V of train is calculated
ref
V
ref＝V
calculated(n-1)+A
train*T
cycle
Wherein:
V
calculated (n-1)refer to the train speed of last cycle after slipping compensation method calculates.
4, train reference speed V is calculated
refwith wheel velocity V
wheelbetween difference V
diff
V
diff＝V
ref-V
wheel。
5, according to speed difference V
diffjudge whether wheel occurs skidding
V
diff≥V
sliptolerance
Wherein:
V
sliptoleranceas according to velocity contrast V
diffjudge the family of power and influence's value whether wheel skids, its value can according to train speed V
calculatedwith tyre skidding situation A
slip, V
slipadjust.
The design plan of locomotive velocity measuring range finding compensation method module, as follows:
1, train running speed calculates
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen not judging tyre skidding:
V
calculated(n)＝V
wheel；
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen judging tyre skidding:
V
calculated(n)＝V
calculated(n-1)+A
train*T
cycle；
2, train operation distance calculates
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen not judging tyre skidding:
Wherein:
DeltaDist
(n)represent that train is in N cycle driving distance;
N
mrepresent the step-by-step counting of arriving in N cycle detection at speed sensor;
N
rotatein representation theory, wheel rotates a circle the step-by-step counting that speed sensor detects;
represent wheel diameter;
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen judging tyre skidding:
DeltaDist
(n)＝V
calculated(n)*T
cycle；
The design plan of train speed indeterminacy of calculation module, as follows: when according to acceleration/accel difference A
diffor velocity contrast V
diffwhen not judging tyre skidding,
Spduncertainty
(n)＝spd
granularity+spd
filter+spd
resolution+p
wheelCal*V
train+p
slip*V
train
Wherein:
Spduncertainty
(n)represent that the speed in N cycle is uncertain;
Spd
granularityrepresent the equipment error of speed sensor;
Spd
resolutionrepresent the acquisition precision error of speed sensor signal;
Spd
filterthe filtering error of method for expressing;
P
wheelCalrepresent the data noise factor of taking turns and causing through align mode;
P
sliprepresent the data noise factor that undetected slipping causes.
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen judging tyre skidding,
Spduncertainty
(n)＝Spduncertainty
(n-1)+Accuncertainty
(n)*T
cycle；
Wherein:
Accuncertainty
(n)＝Acc
mount+Acc
resolution+p
instrument*A
train+p
filter*A
train；
Accuncertainty
(n)represent that the acceleration/accel in N cycle is uncertain;
Acc
mountrepresent the installation error of accelerometer;
Acc
resolutionthe acquisition precision error of acceleration transducer signals;
P
instrumentthe equipment error factor of acceleration pick-up;
P
filterthe filtering error factor of method for expressing.
The present invention, on the basis using traditional speed sensor measurement wheel velocity, introduces accessory equipment accelerometer as the foundation judging wheel slipping, slide, enhances the availability of speed measuring equipment greatly, improves range rate accuracy;
Introduce first-order low-pass ripple algorithm, the sensor signal distortion because mechanical vibration or electromagnetic crosstalk cause can be eliminated to greatest extent;
Introducing acceleration pick-up acceleration measurement and wheel velocity differential calculation acceleration/accel difference out judge the design of tyre skidding, relatively traditional employing acceleration/accel absolute value judges the method for tyre skidding, comformability is stronger, under can eliminating different braking operating mode, acceleration/accel is different from the impact of sliding detection, and in train low cruise situation, advantage is more obvious;
Adopt accelerometer measures car body acceleration value out as the foundation calculating train reference speed, the particularity of train reference speed can be ensured to greatest extent;
Judge that family of power and influence's value of tyre skidding can carry out dynamic conditioning according to train speed, slipping state according to the velocity contrast between train reference speed and wheel velocity, ensure that train can detect tyre skidding rapidly when low speed, there will not be during high speed and play tyre skidding erroneous judgement because the family of power and influence is worth too introductory note;
Judge that tyre skidding method accurately can detect all processes of tyre skidding according to acceleration pick-up acceleration measurement and wheel velocity differential calculation acceleration/accel difference out, speed difference between train reference speed and wheel velocity, judge the timing node that tyre skidding starts and terminates accurately, this method can calculate the running velocity of train accurately, as shown in Figure 5.
Provide a concrete grammar of the present invention below in conjunction with Fig. 2 to realize:
1, acceleration transducer signals collection and calculating:
Wherein:
refer to the wheel diameter through calibration;
N
rotaterefer to the pulse number that rotation of wheel one circular velocity sensor produces;
λ
trefer to the pulse width measured.
2, acceleration transducer signals collection and calculating:
Voltage signal and Acceleration Signal meet Linear Comparison relation, can calculate acceleration/accel according to the magnitude of voltage that acceleration pick-up is measured.
3, acceleration/accel skids and judges:
V
wheel＝(1-1/p
wheel)*V
wheel(n-1)+1/p
wheel*V
measure，p
wheel=3
A
filter＝(1-1/p
filter)*A
filter(n-1)+1/p
filter*A
measure，p
filter=3
A
diff＝A
filter-A
wheel；
A
slip=(A
diff>=db
grade+ A
sliptolerance), A
sliptolerancevalue 0.6m/s
2.
4, speed is skidded and is judged:
V
wheel＝(1-1/p
wheel)*V
wheel(n-1)+1/p
wheel*V
measure，p
wheel=3
A
filter＝(1-1/p
filter)*A
filter(n-1)+1/p
filter*A
measure，p
filter=3
A
train＝A
filter-db
grade；
V
ref＝V
calculated(n-1)+A
train*T
cycle；
V
diff＝V
ref-V
wheel；
V
slip＝V
diff≥V
sliptolerance；
Wherein:
When judging that skidding does not appear in wheel according to acceleration pick-up acceleration measurement and wheel velocity differential calculation acceleration/accel difference out:
Train speed is greater than 20km/h, V
sliptolerance=max (V
diff (n-1), 5km/h);
Train speed is less than 20km/h, V
sliptolerance=max (V
diff (n-1), 3km/h);
When judging that according to acceleration/accel difference skidding appears in wheel:
Train speed is greater than 20km/h, V
sliptolerance=max (V
diff (n-1)-1km/h, 5km/h);
Train speed is less than 20km/h, V
sliptolerance=max (V
diff (n-1)-1km/h, 3km/h);
5, locomotive velocity measuring range finding compensation calculation:
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen not judging tyre skidding:
V
calculated(n)＝V
wheel(n)；
Wherein:
refer to the wheel diameter through calibration;
N
rotaterefer to the pulse number that rotation of wheel one circular velocity sensor produces;
N
mrepresent the step-by-step counting of arriving in N cycle detection at speed sensor.
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen judging that sliding appears in wheel:
V
calculated(n)＝V
calculated(n-1)+A
train*T
cycle；
DeltaDist
(n)＝V
calculated(n)*T
cycle
6, train speed indeterminacy of calculation:
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen not judging tyre skidding:
Spduncertainty
(n)＝spd
granularity+spd
filter+spd
resolution+p
wheelCal*V
train+p
slip*V
train
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen not judging tyre skidding:
Spduncertainty
(n)＝Spduncertainty
(n-1)+Accuncertainty
(n)*T
cycle；
Accuncertainty
(n)＝Acc
mount+Acc
resolution+p
instrument*A
train+p
filter*A
train。
The present invention is not limited to embodiment discussed above.Above the description of detailed description of the invention is intended to describe and the technical scheme that the present invention relates to being described.Based on the present invention enlightenment apparent conversion or substitute also should be considered to fall into protection scope of the present invention.Above detailed description of the invention is used for disclosing best implementation method of the present invention, can apply numerous embodiments of the present invention and multiple alternative to reach object of the present invention to make those of ordinary skill in the art.
Claims (7)
1., to idle running and the safe locomotive velocity measuring distance-finding method detecting and compensate that skids, it is characterized in that,
A
diff=A
measure-A
wheel; If A
diff>=db
grade+ A
sliptolerance, then think and occur acceleration/accel tyre skidding;
V
diff=V
ref-V
wheel; If V
diff>=V
sliptolerance, then think and occur speed tyre skidding;
A
difffor acceleration/accel difference, A
measurefor the acceleration/accel that accelerometer is measured; A
wheelfor by carrying out the acceleration/accel that differential calculation draws to wheel velocity; Db
gradefor the ramp acceleration information that automatic train protection system ATP system obtains from Wiring configuration data storehouse according to the location information of train; A
sliptolerancefor judging whether that the acceleration/accel occurring tyre skidding slides tolerance value according to acceleration/accel difference;
V
difffor speed difference; V
reffor the reference velocity of train; V
wheelfor the wheel velocity after the process of first-order low-pass ripple; V
sliptoleranceas according to velocity contrast V
diffjudge the family of power and influence's value whether wheel skids.
2., as claimed in claim 1 to idle running and the safe locomotive velocity measuring distance-finding method detecting and compensate that skids, it is characterized in that,
A
diff＝A
filter-A
wheel
A
filterfor the acceleration A that accelerometer is measured
measurevalue after the process of first-order low-pass ripple;
To speed sensor survey calculation wheel velocity V out
measureafter carrying out the process of first-order low-pass ripple, then carry out differential calculation and draw A
wheel.
3., as claimed in claim 2 to idle running and the safe locomotive velocity measuring distance-finding method detecting and compensate that skids, it is characterized in that,
V
ref＝V
calculated(n-1)+A
train*T
cycle
A
train＝A
filter-db
grade
A
trainfor the car body acceleration of train, V
calculated (n-1)refer to the train speed of last cycle after slipping compensation method calculates, T
cyclefor the period that method performs.
4., as claimed in claim 3 to idle running and the safe locomotive velocity measuring distance-finding method detecting and compensate that skids, it is characterized in that, train running speed V
calculated (n),
When according to A
diffor V
diffwhen not judging tyre skidding:
V
calculated(n)＝V
wheel；
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen judging tyre skidding:
V
calculated(n)＝V
calculated(n-1)+A
train*T
cycle。
5., as claimed in claim 4 to idle running and the safe locomotive velocity measuring distance-finding method detecting and compensate that skids, it is characterized in that,
When according to A
diffor V
diffwhen not judging tyre skidding:
When according to A
diffor V
diffwhen judging tyre skidding:
DeltaDist
(n)＝V
calculated(n)*T
cycle；
Wherein, DeltaDist
(n)represent that train is in N cycle driving distance, N
mrepresent the step-by-step counting of arriving in N cycle detection at speed sensor; N
rotatein representation theory, wheel rotates a circle the step-by-step counting that speed sensor detects;
represent wheel diameter.
6., as claimed in claim 4 to idle running and the safe locomotive velocity measuring distance-finding method detecting and compensate that skids, it is characterized in that,
When according to A
diffor V
diffwhen not judging tyre skidding,
Spduncertainty
(n)＝spd
granularity+spd
filter+spd
resolution+p
wheelCal*V
train+p
slip*V
train
When according to acceleration/accel difference A
diffor velocity contrast V
diffwhen judging tyre skidding,
Spduncertainty
(n)＝Spduncertainty
(n-1)+Accuncertainty
(n)*
Tcycle；
Accuncertainty
(n)＝Acc
mount+Acc
resolution+p
instrument*A
train+p
filter*A
train；
Wherein, Spduncertainty
(n)represent that the speed in N cycle is uncertain; spd
granularityrepresent the equipment error of speed sensor; spd
resolutionrepresent the acquisition precision error of speed sensor signal; spd
filterthe filtering error of method for expressing; p
wheelCalrepresent the data noise factor of taking turns and causing through align mode; p
sliprepresent the data noise factor that undetected slipping causes; Accuncertainty
(n)represent that the acceleration/accel in N cycle is uncertain; Acc
mountrepresent the installation error of accelerometer; Acc
resolutionrepresent the acquisition precision error of acceleration transducer signals; p
instrumentrepresent the equipment error factor of acceleration pick-up; p
filterthe filtering error factor of method for expressing.
7. the safe locomotive velocity measuring distance-finding method detecting idle running and skidding and compensate as described in any one of claim 1-6, is characterized in that,
V
sliptolerance, its value adjusts according to train speed and tyre skidding situation.
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| CN104709295B (en) * | 2013-12-17 | 2017-09-19 | 中车大连电力牵引研发中心有限公司 | Rail vehicle slides control method |
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