CN103010260A - Method for controlling a powered system based on mission plan - Google Patents

Abstract

Various methods are disclosed for controlling a rail vehicle or other powered system based on an optimized mission plan. One embodiment relates to method for determining a mission plan for a powered system when a desired parameter of the mission plan is unobtainable and/or exceeds a predefined limit. The method comprises identifying a desired parameter prior to creating a mission plan, wherein the desired parameter may be unobtainable and/or in violation of a predefined limit, and notifying an operator of the powered system and/or a remote monitoring facility of the desired parameter.

Description

Be used for controlling based on task scheduling the method for power operated system

The application is that (the China national application number is No.200980119041.X for the PCT patent application in China national stage that enters of submitting on November 19th, 2010, international application no is PCT/US2009/037293, and denomination of invention " is used for controlling based on task scheduling the method for power operated system ") divide an application.

Technical field

Embodiments of the invention relate to the method for control vehicle and other power operated system.

Background technology

Some power operated system (for example train and other guideway vehicle, boats and ships, the fixing power generating unit take diesel oil as power, and mine vehicle, agri-vehicle and other off-road vehicle) comprises the unit take diesel oil as fuel as propulsion source.For the guideway vehicle system, the unit take diesel oil as fuel can be the diesel internal combustion driving engine that is contained in the locomotive.Locomotive can be the part of train, and train comprises other locomotive and a plurality of rail carriages, for example freight compartment.Locomotive is the complication system with many subsystems, and subsystems and other subsystem interdepend.

The operator is usually in locomotive, and guaranteeing the appropriate operation of locomotive, and when having locomotive marshalling (consist), the operator is usually inner at pilot engine (1ead locomotive).Locomotive " marshalling " is to be operated together or one group of locomotive of controlled so that train motion.Except the appropriate operation of guaranteeing the marshalling of locomotive or locomotive, the operator also is responsible for determining the operating speed of train and the power in the train.In order to carry out this function, the operator generally must have the rich experiences at regulation area operation locomotive and various trains.Need this knowledge to defer to the operating parameter of regulation, such as the speed that can change with train position along track, discharging etc.In addition, the operator is responsible for also guaranteeing that the interior force retaining of train is in the acceptable limit.

In marine vessel applications, the operator is usually on boats and ships, and guaranteeing the appropriate operation of ship, and when having the ship marshalling, the operator controls the guiding ship usually.As above-mentioned locomotive example, the ship marshalling is the one group of ship that is operated together to carry out Joint Task.Except the appropriate operation of guaranteeing the marshalling of ship or ship, the operator also is responsible for determining the operating speed of marshalling and the power in the marshalling.In order to carry out this function, the operator generally must have a large amount of experience in operation ship on the regulation water route or in the task of regulation and various marshallings.Need this knowledge to defer to the operating speed of regulation and other task parameters that can change with the ship position along task.In addition, the operator is responsible for also guaranteeing that power in the ship and the power between ship and task location remain in the acceptable limit.

When the operation train, train operator typically needs identical gear (notch) setting when the operation train, and this can cause consumption of fuel and/or discharging output (such as but not limited to NOx, CO then ₂Deng) larger variation, this depends on the quantity that train is provided with the locomotive of power.Therefore, the operator usually can not operate locomotive so that for each stroke, consumption of fuel minimizes, and discharging output minimizes, because the size of train and load are different, and locomotive and their power availability can change with model type.

But, about locomotive, even have the knowledge of guaranteeing safe in operation, the operator usually can not operate locomotive and so that the consumption of fuel of each stroke and discharging minimize.For example, the other factors that must consider can comprise the weighted array of discharging output, the operator's environmental conditions such as noise/vibration, consumption of fuel and discharging output etc.This is difficult to accomplish, because the size of train and load meeting are different, locomotive and their fuel/emission performance are different, and weather and transportation condition are also different.

Similar problem can appear when the operator attempts to optimize the speed of train.Although the operator may be good at the various train configuration of operation, guarantee that optimized task speed is not all feasible without exception on various train configuration.In addition, when establishing task scheduling, provide at first in the situation of inappropriate information, situation may occur.Although can be unharmful to the operation of train, have inappropriate information and can cause more undesirable performance.

The train owner has many trains usually, and wherein, train operates at the network of railroad track.Because each train needs independent operator, operator's level of skill is different between the different operating person, thus with guarantee to optimize that fuel uses, discharging output and speed can rise by exponentially with the quantity of guaranteeing appropriately to use the relevant factor of all resources in the network.Because the simultaneously integration of many trains of operation (wherein in the network of railroad track, must also to consider the time schedule Arrangement Problem about train operation), the train owner will benefit from such mode: real-time optimization fuel efficiency and discharging output, in order to save total consumption of fuel, the discharging output of many trains of simultaneous minimization, and meet simultaneously the constraint of task travel time.

Summary of the invention

Embodiments of the invention relate to a kind of be used to controlling power operated system of systems and method.The expectation parameter that the method is included in task scheduling is the task scheduling that is unreachable to and/or determines when surpassing the predefined limit power operated system, so that basis and the environment mission performance of optimized fuel efficiency, discharging output, vehicle performance and/or power operated system are accomplished.The method confirms the expectation parameter before further being included in and producing task scheduling, and wherein, the expectation parameter can be and is unreachable to and/or runs counter to the predefined limit.The expectation parameter is notified operator and/or the remote monitoring facility of this power operated system.

In another embodiment, the method comprises the generation task scheduling.Confirm the expectation parameter that is unreachable to and/or has surpassed the predefined limit in the task scheduling.Following content is determined: whether temporarily surpassed the predefined limit, whether confirmed to approach the accessible parameter of expectation parameter, and/or whether alert operator and/or remote monitoring facility about the feedback of the series of measures that will take.

The scope that other embodiments of the invention relate to the operation mode that a kind of system for driving by optimizing power runs between must in office is controlled the method for power operated system.The method comprises determines that power operated system enters the time quantum of the scope of at least one operation mode before the beginning task and/or when executing the task.The operator of power operated system and/or remote monitoring facility provided about power operated system when executing the task, enter the scope of at least one operation mode and/or before the beginning task, will enter the notice of time quantum of the scope of this at least one operation mode.

In another embodiment, the method comprises at least one operating parameter of the power-actuated system of regulation moving, to approach the operation setting of expectation.The method can further comprise to be determined the minimum velocity threshold value and produces task scheduling with the minimum velocity threshold value.

Another embodiment relates to a kind of method for based target reference velocity and/or the plan of setting the tasks of target reference driving force.The method comprises uses target reference velocity and/or the target reference driving force confirmed for the part of whole task and/or task to produce task scheduling.Defer to and/or roughly defer to target reference velocity and/or target reference driving force.

Another embodiment also relates to a kind of method for based target reference velocity and/or the plan of setting the tasks of target reference driving force.Here, the method comprises definite reference target speed and target reference driving force.Use for the determined reference target speed of the part of whole task and/or task and/or target reference driving force and produce task scheduling.The system that operational power drives is in order to provide power near reference target speed.

Another embodiment relates to a kind of method of scope of at least one operation mode be used to minimizing the power operated system that is provided with task scheduling.The method comprises the ancestral task plan that produces, and the time period of confirming the operation in the scope of this at least one operation mode.Confirm the scope of at least one operation mode in the task scheduling.Revise task scheduling, with during the period in the selected scope of this at least one operation mode in the power operation period, provide the power setting outside the scope of this at least one operation mode.

Another embodiment relates to and a kind ofly has the method for the power operated system of the first power generating unit and the second power generating unit for control, and wherein, the power setting of the first power generating unit and the power of the second power generating unit arrange decoupling.The method comprises that exploitation does not rely on the power operation plan that coupling power arranges, and determines the power setting in response to this power operation plan, and operates the first power generating unit and/or the second power generating unit based on the power setting of determining.

Description of drawings

Specific embodiment of the present invention with reference to the accompanying drawings provides above the concise and to the point of the present invention more concrete description of describing.Understand that these figure have described only typical embodiment of the present invention, and therefore it should not be considered as in its scope, will coming exemplary embodiment of the present invention is described and sets forth with extra feature and details by using accompanying drawing for restrictive, in the drawings:

Fig. 1 is the diagram of circuit that has shown stroke optimization method according to an embodiment of the invention;

Fig. 2 has described the simplification math modeling of the power operated system that can adopt in conjunction with the present invention;

Fig. 3 is the scheme drawing of power operated system;

Fig. 4 has described an exemplary embodiment of fuel use/running time curve;

Fig. 5 has described an exemplary embodiment of the segmentation decomposition of stroke planning;

Fig. 6 has described another exemplary embodiment of the segmentation decomposition of stroke planning;

Fig. 7 is the diagram of circuit that has shown stroke optimization method according to another embodiment of the invention;

Fig. 8 has described an embodiment for the dynamic display that is used by the operator;

Fig. 9 has described another embodiment for the dynamic display that is used by the operator;

Figure 10 has described another embodiment for the dynamic display that is used by the operator;

Figure 11 has described to have the network of the railroad track of many trains;

Figure 12 is the diagram of circuit of method according to another embodiment of the invention, that be used for forming to improve by optimized train dynamics the fuel efficiency of train;

Figure 13 has described to be included in the sketch of the exemplary elements of the system that forms for optimized train dynamics;

Figure 14 has described the sketch for the transfer function of the fuel efficiency of determining the system take diesel oil as power and discharging;

Figure 15 is the diagram of circuit of method of configuration of having described to be used for to determine to have the system take diesel oil as power of at least one power generating unit take diesel oil as fuel;

Figure 16 has described an exemplary embodiment for the closed loop system of operation guideway vehicle;

Figure 17 has described the closed loop system of the Figure 16 of being combined with main control unit;

Figure 18 has described to be used for an exemplary embodiment of operation closed loop system guideway vehicle, that be combined with another input operation subsystem of guideway vehicle;

Figure 19 has described to have another exemplary embodiment of the closed loop system of conv, and this conv can be arranged the operation of master controller;

Figure 20 has described another exemplary embodiment of closed loop system;

Figure 21 is diagram of circuit according to an embodiment of the invention, that show the method for the system that drives for operational power;

Figure 22 be according to an embodiment of the invention, show for the diagram of circuit in the method for closed loop procedure operation guideway vehicle;

Figure 23 has described the diagram of curves of comparison current operation with the Velocity-time of the optimized operation of discharging;

Figure 24 has described and the flat types of modulation of comparing of given dash;

Figure 25 shows the diagram of circuit for the method for the configuration of determining the system take diesel oil as power;

Figure 26 has described to be used for the system of minimum emissions output;

Figure 27 has described to be used for minimizing the system that exports from the discharging of the system take diesel oil as power;

Figure 28 has described to be used for the method that operation has the system take diesel oil as power of at least one power generating unit take diesel oil as fuel;

Figure 29 has described to operate the sketch of the example system of the system take diesel oil as power with at least one power generating unit take diesel oil as fuel;

Figure 30-the 31st is according to two embodiment of the present invention, show the diagram of circuit for the corresponding method of the task scheduling of determining power operated system;

Figure 32 shows for confirming that task scheduling is for being unreachable to and/or having surpassed the diagram of circuit of method of the expectation parameter of the predefined limit;

Figure 33 shows the diagram of circuit for the method for the scope of at least one operation mode of optimizing the power operated system that task scheduling provides;

Figure 34 shows the diagram of circuit for the method for the scope of at least one operation mode of optimizing the power operated system that task scheduling provides;

Figure 35 shows the diagram of circuit for the method for the plan of setting the tasks based on maximum speed limit and/or minimum velocity threshold value;

Figure 36 shows the diagram of circuit of method of the scope of the operation mode that the task scheduling of the system that drives for optimizing power provides;

Figure 37 shows the diagram of circuit for the method for the plan of setting the tasks based on maximum speed limit and/or minimum velocity threshold value;

Figure 38 shows the diagram of circuit of method of scope of operation mode that is provided with the power operated system of task scheduling for optimization;

Figure 39 has described to show the graphics be used to an exemplary embodiment that provides decoupling power to arrange;

Figure 40 has described to show the graphics be used to another exemplary embodiment that provides decoupling power to arrange;

Figure 41 has described to show the graphics be used to another exemplary embodiment that provides decoupling power to arrange;

Figure 42 has described to show the diagram of circuit be used to an exemplary embodiment that provides decoupling power to arrange; And

Figure 43 has described to show the diagram of circuit be used to another exemplary embodiment that provides decoupling power to arrange.

The specific embodiment

Now will be in detail with reference to the embodiment that is consistent with the present invention, the example of embodiment has illustrated in the accompanying drawings.In any feasible situation, the same reference numerals of using in all figure is indicated same or analogous parts.

Although come exemplary embodiment of the present invention is described about guideway vehicle or rail transportation system (train and the locomotive that especially have diesel motor), but exemplary embodiment of the present invention also can be applicable to other purposes, such as but not limited to off-road vehicle, boats and ships, fixed cell and other vehicle, for example agri-vehicle and the transportation passenger vehicle, each in them all can use at least one diesel motor or diesel internal combustion driving engine.For this reason, when the task of regulation was discussed, this just comprised operation or the requirement for the treatment of by the execution of the system take diesel oil as power.Therefore, use about railway, boats and ships, transport vehicle, agri-vehicle or off-road vehicle, this can refer to the motion of system from the current location to the destination.

In the situation of fixation application, such as but not limited to the network at stationary power generation station or power generation station, the task of regulation can refer to other parameter or the requirement that watt is measured (for example MW/ hour) or treated to be satisfied by the system take diesel oil as power.Equally, the operating conditions of the power generating unit take diesel oil as fuel can comprise one or more in speed, load, fuel value, time etc.In addition, although disclose the system take diesel oil as power, but those skilled in the art will easily understand, and embodiments of the invention also can use with the system take non-diesel oil as power, such as but not limited to natural-gas-powered system, system etc. take biodiesel as power.

In addition, as disclosed herein, this system and the system take diesel oil as power take non-diesel oil as power can comprise a plurality of driving engines, other propulsion source and/or other propulsion source, such as but not limited to battery source, voltage source (such as but not limited to cond), chemical source, based on pressure source (such as but not limited to spring and/or hydraulic buckling), current source (such as but not limited to inducer), inertia source (such as but not limited to flywheel gear), based on the propulsion source of gravity, and/or based on the propulsion source of heat.In addition, propulsion source can be in the outside such as but not limited to power driven system (for example locomotive or train), and wherein, power is provided from the outside by crown catenary, the 3rd track and/or magnetic suspension coil.

In relating to an example of boats and ships, a plurality of towboats can operate together, and wherein, all towboats move same larger ship, and wherein, each towboat is related in time, to finish the task of mobile larger ship.In another example, single boats and ships can have a plurality of driving engines.Off-road vehicle (OHV) is used to relate to has that " A " moves to the fleet of the same task of position " B " from the position with earth, and wherein, each OHV is related in time, to finish the work.Stand about stationary power, a plurality of stations can be combined in together, jointly to produce power for particular location and/or purpose.In another exemplary embodiment, provide single station, but a plurality of producers compensate single station.In relating to an example of rolling stock, but a plurality of system's co-operate take diesel oil as power, wherein, all systems take diesel oil as power move same larger load, a plurality of rail carriages for example, and wherein each system is related in time, to finish the task of mobile larger load.In another exemplary embodiment, rolling stock can have a more than system take diesel oil as power.

Exemplary embodiment of the present invention solves the problems of the prior art by such mode: the system, method and the computer implemented method that are provided for expectation parameter at task scheduling and are being unreachable to and/or determine when having surpassed the predefined limit task scheduling of power operated system, computer software code for example is so that basis and the environment mission performance of optimized fuel efficiency, discharging output, vehicle performance and/or the system take diesel oil as power are accomplished.About locomotive, exemplary embodiment of the present invention also can operation when the locomotive marshalling is in the distributed-power operation.

It will be apparent to those skilled in the art that the equipment (for example data processing system) that comprises CPU, memory device, I/O, program storage, connection bus and other suitable member may be programmed to or otherwise be designed to be conducive to method of the present invention.This system will comprise be used to the suitable program device of carrying out method of the present invention.

And, be used for to comprise storage medium and record program device thereon with the manufacturing thing (for example pre-recorded disk or other similar computer program) that data processing system is used, it is used for the designating data disposal system, to be conducive to put into practice method of the present invention.This equipment and manufacturing thing also drop in the spirit and scope of the present invention.

In general, a kind of technique effect is that the expectation parameter at task scheduling is the task scheduling that is unreachable to and/or determines when having surpassed the predefined limit power operated system, so that the optimized fuel efficiency of the system take diesel oil as power, discharging output, vehicle performance, basis and environment mission performance are accomplished.Although disclose task scheduling in the above, term " task scheduling " be not provided as restriction.Particularly, term " task scheduling " comprises automatic or autonomous task scheduling and/or planning, manual task scheduling and/or planning, and both combinations.

In order to be conducive to understand exemplary embodiment of the present invention, present invention is described with reference to specific implementation of the present invention in the back.Can the executable instruction of computing machine (for example by any device-such as but not limited to being designed to so that receive data, the mathematics that usually puts rules into practice with high speed and/or the computing machine of logical action, wherein, can show or can not show the program module of the result of this operation-execution) general background under exemplary embodiment of the present invention is described.In general, program module comprises the routine carrying out particular task or realize specific abstract data type, program, object, member, data structure etc.For example, can come with different programming languages the software program as the basis of exemplary embodiment of the present invention is encoded, to work from different device or platform one.In the following description, can under the background of the network gateway that adopts web browser, be described example of the present invention.But, will appreciate that, also can realize principle as the basis of exemplary embodiment of the present invention with the computer software technology of other type.

In addition, it will be appreciated by those skilled in the art that, can put into practice exemplary embodiment of the present invention with other computer system configurations, comprise hand-held device, multi-processor system, based on microprocessor or programmable consumer electronics, pneutronic computer, giant brain etc.Exemplary embodiment of the present invention also can be put into practice in DCE, and wherein, task is carried out by the teleprocessing device, and the teleprocessing device links by communication network.In DCE, program module can be arranged in local and remote computer-readable storage medium (comprising memory storage apparatus) both.These local and remote computing environment can be completely contained in the locomotive, perhaps near the locomotive in marshalling, perhaps for non-vehicle-mounted, in the roadside of having used wireless telecommunications or central office.

Run through and used term " locomotive marshalling " in this document.As used herein, locomotive is organized into groups can be described as to have and is linked together in order to continuous one or more locomotives of driving and/or braking potential are provided.In many cases, locomotive links together, and does not wherein have railway car between the locomotive.Train can have more than locomotive marshalling on it forms.Particularly, can there be guiding marshalling and one or more long-range marshalling, for example in the centre of compartment row, and another marshalling far away of locating at the end of train.Each locomotive marshalling can have the first locomotive and follow locomotive (trail locomotive).Although the first locomotive is regarded as pilot engine usually, those skilled in the art will easily understand, and the first locomotive in the multimachine car marshalling can be positioned on the position of afterbody physically physically.

Although the locomotive marshalling is regarded as comprising continuous locomotive usually, but those skilled in the art will easily understand, even when one or more rail carriages have separated locomotive, for example be configured to so that when carrying out the distributed-power operation when locomotive marshalling, one group of locomotive also can be thought marshalling, wherein, speed governing and brake command are transferred to long-range train by radio link or physics cable from pilot engine.For this reason, when a plurality of locomotive in the same train of discussion, the marshalling of term locomotive not should be understood to limiting factor.

As disclosed herein, the thought of marshalling also can be used when mentioning the power operated system of other type, includes but not limited to operate together in order to boats and ships, off-road vehicle and/or the land based power plant of driving, power generation and/or braking potential are provided.Therefore, even used the marshalling of term locomotive about some illustrative embodiment in this article, this term also can be applicable to other power operated system.Similarly, can there be the son marshalling.For example, the system take diesel oil as power can have a more than power generating unit take diesel oil as fuel.For example, engine installation can have a more than diesel oil power unit, and wherein, optimization can be in the level of son marshalling.Similarly, locomotive can have a more than diesel unit.

Can use in this article term " gear ".Although gear is generally understood as the speed governing setting that sets in advance, in the context of the present invention, this term is defined as and comprises that the speed governing setting that sets in advance and/or continuous decomposition speed governing use, and wherein keeping off is any speed governing value.

Referring now to accompanying drawing,, will be described embodiments of the invention.Exemplary embodiment of the present invention can realize in many ways, comprises being embodied as system's (comprising computer processing system), method (comprising computerized method), equipment, computer-readable medium, computer program, graphical user interface (comprising network gateway) or visibly being fixed on data structure in the computer-readable memory.Below several embodiment of the present invention are discussed.

Embodiments of the invention relate to a kind of method for control train, other vehicle or other power operated system, and realize the stroke optimizer system 12 for the method for control train, other vehicle or other power operated system.(system 12 generally can be used for controlling the task of power operated system, and system 12 is not limited to control the vehicle on the road).

Fig. 1 shows for the diagram of circuit of controlling the method for power operated system by stroke/task optimization.Fig. 3 and 7 has shown the various elements of power operated system (for example train), and this power operated system comprises and being configured in order to carry out stroke or the task optimization device system 12 of method shown in Figure 1.As shown in the figure, instruction is for onboard or proprietary input for remote location (for example the control center 10) the planning stroke.This input message includes but not limited to train position, (for example type of locomotive) described in marshalling, railroad traction is described, the performance that locomotive traction transmits, the consumption of the engine fuel that changes with outputting power, cooling characteristics, the stroke route of expection (comprise with the effective track grade that changes with milepost and curvature and/or defer to the relevant information of " effective gradient " component of curvature of standard railroad practice in order to reflection), by the train that the compartment forms and load and actv. drag coefficient represent, stroke expectation parameter-include but not limited to run up time and position, the final position, the expectation running time, crew member (user and/or operator) identity, the crew member is time expiration and route in shifts.

Available many modes offer locomotive 42 (seeing Fig. 3) with these data, such as but not limited to the operator by Vehicular display device with in the manual reader car 42 of these data, to comprise data storage apparatus (for example hard card and/or USB flash memory actuator) and insert in the jack on the locomotive, and by wireless telecommunications with information from the center or position, roadside 41 (for example track signaling device and/or wayside unit) be sent to locomotive 42.Locomotive 42 and train 31 load characteristics (for example towing) also can change according to route (for example height above sea level, ambient temperature and the condition with track and rail carriages changes), and renewable plan, as the in real time autonomous collection of any said method and/or locomotive/train conditions is needed, to reflect this variation.This comprises that (for example) is by on the locomotive 42 or the locomotive that detects of the outer monitorings equipment of locomotive 42 or the variation of train characteristic.

The track signal system determines the permissible speed of train.There is the working rule of being permitted eurypalynous track signal system and joining with each signal correction.For example, some signals have single lamp (ON/OFF), and some signals have the single lens with multiple color, and some signals then have a plurality of lamps and color.It is unimpeded that these signals can be indicated track and train can advance with maximum permissible speed.They also can be indicated the speed that need to reduce or stop.May need immediately or in certain position (for example before next signal or crossing) realize the speed that this reduces.

Signal condition is sent to train and/or operator by various means.Circuit and the induction type on the locomotive that some systems have in the track gather coil.Other system has wireless telecommunication system.Signal system also can require the operator visually to check signal and take adequate measures.

The track signal system can with the cab signal system interaction, and according to the input and suitable working rule regulate locomotive speed.For requiring the operator visually to check the signal system of signal condition, operator's screen will present suitable signal option for the operator, input with the position based on train.The working rule that changes with the position and the type of signal system can be stored in the vehicle-mounted data storehouse 63.

Based on the authority data in the input travel optimizer system, calculate and to be constrained to condition with velocity limit, minimize with run up time of expectation and concluding time along route that fuel uses and/or the optimal plan of the discharging that produces, to produce stroke profile 12a.This profile comprises optimal velocity and power (gear) setting that train is deferred to, it is expressed as the function of distance and/or time, and this train operation limit includes but not limited to highest gear power and brake setting, and the velocity limit that changes with the position, and the fuel of the use of expectation and the discharging that produces.(therefore, such as will be appreciated, the stroke profile is a group or a series of control setting being used for realizing or deferring to the stroke plan of train or other vehicle).In one exemplary embodiment, the value of gear setting is chosen to change decision-making in order to approximately obtained speed governing every 10 seconds to 30 seconds.Those skilled in the art will easily understand, if need to and/or expect to defer to the optimal velocity profile, speed governing changes decision-making and can occur in the longer or shorter time length.On more wide in range meaning, should it is evident that to those skilled in the art profile is that train is provided at the power setting on train rank, marshalling rank and/or the independent train rank.Power comprises brake power, drives power and air brake power.In another embodiment, not with traditional discrete gear power setting operation, but can select to be defined as continuous power setting optimum for selected profile.Therefore, for example, if optimal profile is defined as 6.8 gear setting, (being assumed to the discrete gear setting such as 6,7,8 etc.) locates operation but not arrange 7 at gear, and locomotive 42 just can operate at 6.8 places.Allow this intermediate power setting can bring the benefit of following described additional efficiency.

The process that is used for calculating optimal profile can be for calculating the power sequence that drives train 31 in order to minimize any amount of method of fuel and/or discharging with locomotive operation and time schedule (schedule) condition of being constrained to, such as following general introduction.In some cases, since the similarity of train configuration, route and environmental conditions, an optimal profile of determining before needed optimal profile can enough approach.In these cases, may in data bank 63, search driving locus and to attempt to defer to this track just enough.When the plan that calculates before all is not suitable for, include but not limited to directly calculate optimal profile with the Differential Equation Model of the motion physical property of approaching train in order to the method for calculating new plan.Setting relates to selects quantitative objective function, is generally the weighted sum (integration) that adds the model variable of the item that the excessive speed governing of punishment (penalize) changes corresponding to fuel consumption rate and discharging generation rate.

Set up the optimal control formula and come to include but not limited to that velocity limit and the condition that is constrained to minimum and maximum power (speed governing) setting and largest cumulative and instantaneous discharging minimize the quantified goal function.Depend on the object of planning any time, can address this problem neatly, in order to minimize fuel with the condition that is constrained to of discharging and velocity limit aspect, perhaps with the fuel use and the time of advent aspect the condition that is constrained to minimum emissions.Also feasible is to set up (for example) such target: minimize overall travel time, and do not retrain total discharging or fuel use when relaxing at (this) that will allow or need restraint for task.

Run through this paper, provide exemplary equation and objective function to minimize railroad fuel consumption.These equations and function be only in order to describe, because also can adopt other equation and objective function to come optimized fuel consumption, and perhaps other locomotive of optimization/train operation parameter.

On mathematics, can state more exactly problem to be solved.Basic physical property is expressed as:

$\frac{\mathrm{dx}}{\mathrm{dt}}=v;x\left(0\right)=0.0;x\left(T_f\right)=D$

$\frac{\mathrm{dv}}{\mathrm{dt}}=T_e(u,v)-G_a\left(x\right)-R\left(v\right);v\left(0\right)=0.0;v\left(T_f\right)=0.0$

Wherein, x is the position of train, and v is the speed of train, and t be the time (as being fit to take mile, mph. and minute or hour as unit), and u is gear (speed governing) order input.In addition, D represents distance to be travelled, T _fAlong the expected approach time of track at the distance B place, T _eThe tractive force that is produced by the locomotive marshalling, G _aBe to depend on that train length, train form and the gravity gradeability in the area that train is positioned at, and R is the clean towing of the speed that depends on of locomotive marshalling and train combination.Also can stipulate rate of onset and final velocity, but not lose in the general situation that rate of onset and final velocity are taken as zero (for example train stops) here when beginning and end.At last, this model can easily be modified as the dynamic characteristics that comprises that other is important, for example the delay between the variation of speed governing u and the tractive force that produces or the braking.Use this model, set up the optimal control formula and come to include but not limited to that velocity limit and the condition that is constrained to minimum and that maximum power (speed governing) arranges minimize the quantified goal function.Depend on the object of planning any time, can propose neatly this problem, in order to minimize fuel with the condition that is constrained to of discharging and velocity limit aspect, perhaps with the fuel use and the time of advent aspect the condition that is constrained to minimum emissions.

Also feasible is to realize (for example) such target: minimize overall travel time, and do not retrain total discharging or fuel use when relaxing at (this) that will allow or need restraint task.All these performance metrics all can be expressed as following any linear combination:

-minimize total consumption of fuel (1)

-minimize running time

-minimize gear to handle (the constant input of sectional type)

-minimize gear to handle (continuously input)

That feasible is the fuel item F that uses in the item replacement (1) that produces corresponding to discharging.For example, for discharging,

-minimize total discharging to occur.In this equation, E is the quantity discharged take gm/hphr as unit of each gear (or power setting).In addition, can finish based on the weighted sum of fuel and discharging and minimize.

Therefore commonly use and representational objective function is:

$\underset{u\left(t\right)}{\min }{\mathrm{\α}}_1\underset{0}{\overset{T_f}{\∫}}F\left(u\left(t\right)\right)\mathrm{dt}+{\mathrm{\α}}_3{T}_f+{\mathrm{\α}}_2\underset{0}{\overset{T_f}{\∫}}{(\mathrm{du}/\mathrm{dt})}^2\mathrm{dt}---\left(\mathrm{OP}\right)$

The coefficient of linear combination depends on the importance (weight) of giving each.Notice that in equation (OP), u (t) is optimized variable, it is put for continuous gear.If need discrete gear, for example for older locomotive, then make the solution discretization of equation (OP), this can cause lower saving of fuel.Find minimum time solution (α ₁Be made as zero, and α ₂Be made as zero or the value of less) be used for finding attainable running time (T _f=T _Fmin) Lower Limits.In this case, u (t) and T _fBoth are optimized variable.In one embodiment, at T _f＞Tf _MinAnd α ₃Be made as in the zero situation, about T _fVarious value solving equations (OP).Under this latter event, with T _fTreat as constraint.

For those people of the solution of being familiar with this optimal problem, necessary can be additional constraint, for example along the velocity limit in path:

0≤v≤SL(x)

Perhaps when minimum time is used as target, must keep the terminal point constraint, for example, the total fuel that consumes must less than the fuel in the case, for example pass through:

$0<\underset{0}{\overset{T_f}{\&Integral;}}F\left(u\left(t\right)\right)\mathrm{dt}\&le;W_F$

Here, W _FAt T _fThe time case in remaining fuel.Those skilled in the art will easily understand, and equation (OP) also can be other form, and the above equation that presents is the exemplary equation of using in exemplary embodiment of the present invention.For example, those skilled in the art will easily understand, and when the power system with a plurality of diesel oil and/or non-diesel oil provides a plurality of thrusters (spendable such as but not limited at operating ship the time those), need the modification of equation (OP).

In fact the reference of the discharging under the background of exemplary embodiment of the present invention is related to the accumulative total that the produces discharging of the forms such as oxides of nitrogen (NOx), oxycarbide (COx), unburned hydrocarbon (HC), particulate matter (PM).But other discharging can include but not limited to the maxim of electromagnetism discharging, and for example by the limit of radio frequency (FR) the power output of the corresponding frequency of locomotive emission, it is measured with watt.Another form of discharging is the noise that is produced by locomotive, and it is typically measured with decibel (dB).Emission request can be the variable based on the time in intraday time, 1 year and/or atmospheric conditions (for example pollutant level in weather or the atmosphere).The emissions regulations system can change according to the geographic position in the railway system.For example, such as the emissions object that the operating area in city or state can have regulation, adjacent area then can have different emissions objects, for example lower permissible discharge amount or collect higher expense for given emission level.

Therefore, can revise the discharging profile of certain geographic area, to comprise the maximum discharge value of each the controlled discharging that is included in the profile, the predetermined emissions object that requires to satisfy this zone.Typically, for locomotive, these discharging parameters are determined by (but being not limited to) power (gear) setting, environmental conditions and engine control.By design, each locomotive must be observed the EPA effluent standard, and therefore in the embodiments of the invention of optimizing discharging, and this can refer to that task always discharges, and does not have existing EPA standard for it.Locomotive is always observed the EPA effluent standard according to the operation of optimized stroke plan.Those skilled in the art will easily understand, and use because diesel motor is used for other, so other rules and regulations also are applicatory.For example, in some international treaties, considered CO ₂Discharging.

If during the stroke task, target is to reduce discharging, optimal control formula then, and equation (OP) will be modified to consider this trip target.Optimize the crucial alerting ability that arranges and be that any or all of stroke target can change according to geographic area or task.For example, for the high priority train, minimum time can be the unique target on the route, because it is the high priority traffic.In another example, discharging output can change between state and state to some extent along the train path of plan.

In order to find the solution caused optimization problem, in one exemplary embodiment, dynamic optimal control problem in the time domain is transformed into the static mathematics programming problem of the equivalence with N decision variable, wherein, numeral " N " depends on the time length that carries out speed governing and the braking residing frequency of adjusting and stroke.For typical problem, this N can be thousands of.For example, suppose that train travels at 172 miles (276.8 km) of Southwestern United Stares long track.Utilize stroke optimizer system, when the stroke that relatively uses stroke optimizer system to determine and defer to and actual chaufeur speed governing/speed history (wherein stroke is determined by the operator), can realize exemplary 7.6% saving of the fuel that uses.Realized improved saving, because compare with operator's stroke plan, stroke optimizer system produces has the driving strategy that still less pulls loss and less retarding loss or brakeless loss.

For above-mentioned optimization is processed calculating easily, can adopt the simplification math modeling of train, for example shown in Figure 2 and above-mentioned equation.As shown in the figure, consider to determine profile, for example optimal profile such as but not limited to setting standard about some of information, route information, train information and/or the travel information of marshalling.This factor in the profile of being combined in includes but not limited to the fuel of remaining distance in speed, the task and/or use.The other factors that can be included in the profile as disclosed herein, is that gear arranges and the time.Produce a kind of feasible modifications of optimal profile by the more detailed model of using the optimum power sequence that produces to drive, whether deviated from other heat, electric and mechanical constraint with test.This can produce the modified profile of speed-distance, and extra constraint in secret is namely satisfied in its most approaching operation that can realize in the situation of not damaging locomotive or train equipment, for example the heat of locomotive and the power between the compartment in the electric limit and the train.Those skilled in the art will easily understand the equation how to use this paper to discuss in Fig. 2.

Later referring to Fig. 1, in case stroke just produces power commands 14 in the beginning of 12a place, so that the task scheduling running.Depend on the operability setting of stroke optimizer system, an order is that locomotive is deferred to optimized power commands 16, in order to realize optimal velocity.Stroke optimizer system obtains actual speed and the dynamic Information 18 of the locomotive marshalling of train.Owing to be used for the inevitably approximate of optimized model, the optimal velocity of following the tracks of expectation is calculated in the closed loop modification that obtains optimized power.This modification of the train operation limit can be carried out or be undertaken by the operator automatically, and the operator always has final control to train.

In some cases, the model that uses in optimization can be very different according to true train.This can be owing to many former thereby occur, the locomotive of collecting or sending, may become and can not operate in route such as but not limited to extra goods, and the mistake of the mistake in the initial data base 63 or operator's data input.Owing to these reasons, monitoring system is in place, and it estimates locomotive and/or Train Parameters 20 in real time with real-time train data.Then compare estimated parameter and employed hypothesis parameter 22 when initial generation stroke.Based on any difference between default and the estimated valve, can replan stroke 24, can produce enough large saving by new plan.

Other reason that can replan stroke comprises the instruction from remote location (for example scheduling), and/or the operator requires to change target, to meet more overall motion planning target.The other global motion object of planning can include but not limited to other train time schedule, allows that exhaust is dissipated from the tunnel, attended operation etc.Another reason can be because member is degenerated at locomotive.The seriousness that depends on interruption, the strategy that is used for replanning can be grouped into incremental and larger adjusting, and this will carry out more detailed discussion below.Substantially, " newly " plan must be derived from the solution of above-mentioned optimization problem equation (OP), but usually can find faster numerical solution, and is such as described herein.

In operation, locomotive 42 is monitoring system efficient constantly, and upgrade constantly the stroke plan based on the practical efficiency that records, as long as this renewal will improve the stroke performance.Can carry out in locomotive fully and replan calculating, perhaps will recomputate and completely or partially move to remote location, for example scheduling or roadside treatment facility wherein, are sent to locomotive 42 with wireless technology with plan.In one embodiment, but stroke optimizer system generation efficiency trend also, and efficient trend can be used to develop the fleet's data about the efficient transfer function.Can use the data of fleet's scope when determining the priming stroke plan, and when considering the position of many trains, it is compromise that the data of fleet's scope can be used for carrying out the optimization of network range.For example, such as discussed in detail below, running time shown in Figure 8-fuel use compromise curve reflected train in the current time ability on particular course, come it is upgraded with the ensemble average value of on the same route many similar trains being collected.Therefore, from many locomotives, collect the central dispatching facility of the curve of similar Fig. 8 and can coordinate better whole train motion with that information, with the advantage at fuel use or loading and unloading capacity realization system scope.As mentioned above, it will be apparent to those skilled in the art that and to use various fuel types, such as but not limited to diesel oil fuel, heavy duty marine fuel, palm oil, biodiesel etc.

In addition, as mentioned above, it will be apparent to those skilled in the art that and to use various closed-center systems.For example, the amount of power of extracting from specific source (for example diesel motor and battery) can be optimised, so that obtain maximum fuel efficiency/discharging, this maximum fuel efficiency/discharging can be objective function.Such as described further, suppose that total power demand is 2000 horsepowers (HP), wherein, battery can be supplied 1500HP, and driving engine can be supplied 4400HP.Best Point can be as battery supplied 1200HP and during driving engine supply 200HP.

Similarly, amount of power also can be based on the amount of the energy of storing and energy requirement from now on.For example, if there is long-term high demand to power, then battery can be with lower speed discharge.For example, if in battery, stored 1000 horse power hour (HPhr) and next 2 hours demand be 4400HP, what then possibility was optimum is that battery was discharged with 800HP in ensuing 1.25 hours, and obtains 3600HP in that time length from driving engine.

Many events in the regular job can cause needs to produce or revise the present plan of carrying out (wherein, expectation keeps identical stroke target), for example when train not according to plan with meeting of planning of another train or pass through and it is need to remedy the time time.Use actual speed, power and the position of locomotive, between the time of advent of the plan time of advent and at present estimation (expectation), compare 25.The difference of time-based difference and parameter (detect or change by scheduling or operator), control plan 26.Can automatically carry out this according to this expectation that departs from of processing plan about how of railroad and regulate, perhaps can for the operator on the car and scheduler, propose alternatives, the optimum way of getting back to plan with common decision in the artificially.As long as schedule regeneration, under original object (such as but not limited to the time of advent) keeps identical situation, can be simultaneously with can affect original scheme recovery once feasibility other variation-for example the velocity limit in new future changes-counts.In this case, if can not keep original stroke plan, perhaps in other words, train can not satisfy original stroke planned target, as discussed herein, just can provide other stroke plan to operator and/or remote facility or scheduling.

When expectation changes original object, also can carry out as shown in Figure 1 replan 24 or the adjusting 26 of plan.When surpassing the predefined limit (for example train operation limit), can be according to the judgement artificially of operator or scheduler or independently carry out this replanning in arbitrary fixing good time that preplans.For example, moved lately above the threshold value of stipulating if present plan is carried out, for example 30 minutes, exemplary embodiment of the present invention just can be replanned stroke, the cost of using with the fuel that rely on to increase adapts to delays (as mentioned above), perhaps alert operator and scheduler how long altogether can remedy (for example minimum in addition how long or the maximum fuel that can in time-constrain, save).Also can be based on fuel or healthy the conception be used to other triggering factors (trigger) of replanning of the consumption of power marshalling, include but not limited to the time of advent, the horsepower loss that (for example operating) causes because equipment is degenerated in Tai Re or too cold situation, and/or for example detection of the total set-up error in the train load of hypothesis.That is to say, if change reflection to the infringement of the performance of locomotive of present stroke, then these can be counted in the model and/or equation that in optimization, uses.

The needs of coordinating such event also can cause the change of planned target: wherein the plan of a train damages the ability that another train satisfies target, and the ruling that needs different stage (for example operation department).For example, can come further optimization to meet and the coordination of process by train-train communication.Therefore, as an example, if train know its arrival meet and/or the position of process aspect lag behind time schedule, then just can notify the train that arrives evening (and/or scheduling) from the communication of other train.Then, the operator can be with about in the late input information stroke optimizer system, and wherein, this system will recomputate the stroke plan of train.

Also can use stroke optimizer system at high-level or network-level, in the situation that can't satisfy meeting of plan and/or elapsed time constraint in possibly, allow scheduling to determine which train should slow down or raise speed.As discussed herein, this is sent to scheduling by train with data and how changes its object of planning and realize to pay the utmost attention to each train.Depend on (specifically) situation, but select time-based table, saving of fuel benefit and/or discharging output.

Therefore, as described in this paper, can be independent of scheduling or coordinate to carry out with scheduling and replan 24 or the adjusting 26 of plan, as shown in Figure 1.In addition, as disclosed herein, can come integrally or partly start to replan based on the information of coming self scheduling that receives at power operated system place or the information that is derived from other source (such as but not limited to nearby another power operated system and/or wayside unit or the equipment of process).

Relate to such situation about 31, one examples of train: wherein dispatch 60 definite train operator and inputted information wrong for optimizing task scheduling.In this example, when the operator (such as but not limited to) by control suggestion (counsel) and/or telltale 68 input messages when producing optimized stroke plan, information is sent to the scheduling 60 away from train.With wired and/or wireless telecommunication system 47 and scheduling 60 communications.The scheduling cross-check information.Scheduling can be the individual of remote location place or has can determine that the information that provides is for the predict task remote system of correct treater whether.If the information mal then can use new, correct and/or calibrated information (jointly being lastest imformation) to regulate, replan or otherwise revise the original stroke/task scheduling that uses off-square information to produce.The source of this second information can be from scheduling and/or any other system that information updating can be provided train.Can examine and replan (if necessary) before the beginning task and/or when task is carried out.

When the information of upgrading is relevant with carrying out at present of task, also can change optimized task scheduling.An example in the time of can using the information of this renewal includes but not limited to: when train does not have that as was expected carries out present task scheduling (for example, the performance of train some some places when deferring to the ancestral task plan degenerate).The variation of performance also is attributable to the operation capacity of the degeneration of railway infrastructure (or route Infrastructure), and bus attendant changes, and is overtime, if the operator determines the M/C train and then control returned to autonomous operation etc.In another example, for example by communication between train, wayside unit and/or another local source at least one information that receives renewal from another train.When information is transmitted between train, when the transmission train has the information that needs.This information can include but not limited to based on the information that transmits known to the track that train passed recently, and/or when the information that transmits train with dispatching communication in order to be sent to owing to communicating interrupt and be transferred to can't be with other train of dispatching communication the time transmission train.In another example, the information of this renewal can comprise the variation of task object, and for example, train reclassifies low priority level from high priority level.When train operates (on the multiple stage track in the railway network that is intersecting) with other train, the information of upgrading can provide the task of further optimization particular train, to guarantee to use all train safe ground operations of same railway network, and wherein, realization makes any train not have the delay that prolongs, and for example must meet and wait for too of a specified duration through the position.

Can carry out ON TRAINS and replan, even if when scheduling does not know to impel the information of replanning generation.In this case, subsequently this is replanned the notice scheduling.

For anyone building site or replanning of automatically starting, exemplary embodiment of the present invention can provide a more than stroke/task scheduling to the operator.In one exemplary embodiment, stroke optimizer system provides different profiles to the operator, thereby allows the operator to select the time of advent, and understands corresponding fuel and/or discharging impact.For similar consideration, this information also can be used as the simple list of alternatives or offers scheduling as a plurality of compromise curves (for example shown in Figure 4).

Stroke optimizer system has study and adapts to train and ability that the key of power marshalling changes, crucial variation can be combined in present plan and/or following in the works.For example, one in the triggering factors of more than discussing is the loss of horsepower.When setting up horsepower-time relationship, after the loss of horsepower or when the beginning stroke, determine when the horsepower of realizing expectation with the transition logic.This information can be kept in the locomotive data storehouse 61, to be used for optimizing following stroke or present stroke in the situation of the loss that horsepower occurs again.

Equally, in the time that a plurality of thruster can be used, may need to control independently in a similar fashion each thruster.For example, boats and ships can have many element or thrusters had an effect, such as but not limited to propelling unit.May need to control independently each propelling unit, to produce best output.Therefore, use the transition logic, stroke optimizer system can change to determine which propelling unit of operation based on the content of before institute's acquistion and by the key in the operation that adapts to boats and ships.

As mentioned above, Fig. 3 has described various elements according to an embodiment of the invention, as to can be the part of exemplary stroke optimizer system.Locator element 30 in order to the position of determining train 31 is provided.Locator element 30 can be GPS sensor or the sensing system of the position of determining train 31.The example of this other system includes but not limited to wayside unit, and for example the radio frequency automatic mounting is standby confirms that (RF AEI) label, scheduling and/or video are definite.Another system can be included in the speed gage on the locomotive and calculate apart from the distance of R point apart from computer device.As previously discussed, also can provide wireless telecommunication system 47, with allow to carry out between the train communication and/or with the communication of remote location (for example dispatching 60).Also can be from the information of other train transmission about traveling-position.

Track characteristic element 33 also is provided, and it provides the information about track, mainly is the gradient and height above sea level and curvature information.Track characteristic element 33 can comprise Rail Detection integrity data storehouse 36.Speed governing setting, the locomotive of measuring the tractive force 40 that dragged by locomotive 42, locomotive marshalling 42 with sensor 38 organized into groups the speed of 42 configuration informations, locomotive marshalling 42, independent configuration of locomotives, independent locomotive capacity etc.In one exemplary embodiment, can in the situation of not using sensor 38, load locomotive and organize into groups 42 configuration informations, but to organize into groups 42 configuration informations are (as mentioned above) of otherwise inputting to locomotive.In addition, the health status of the locomotive in also can considering to organize into groups.For example, if a locomotive in the marshalling can't operate, just when optimizing the stroke plan, use this information on power dash flat 5.

Also can be used to determine the suitable time of advent of train 31 from the information of locator element.For example, if there is the train 31 that moves towards the destination along track 34, and there is not thereafter following train, and the fixing arrival deadline that train does not have to defer to, then locator element (include but not limited to RF AEI label, scheduling and/or video determine) the definite position that just can be used to measure train 31.In addition, the input from these signal system can be used to regulate train speed.The Rail Detection data bank that use is discussed below and locator element (for example GPS), stroke optimizer system can regulate operator interface therewith, to be reflected in the signal system state at given locomotive position place.To indicate the front to have in the situation of speed limit in signal condition, the planer can select to make train deceleration, with fuel saving consumption.

Information from locator element 30 also can be used to change the object of planning according to the distance from the destination.For example, owing to about the crowded inevitable probabilistic reason along route, " faster " time target of the previous part of route can be used as the protection that prevents the delay that can occur in the back in statistics.If situation about not postponing occurred in specific stroke, then the target of the part of the back of stroke can be changed into so that the Slack Time of the adding of storing up before utilizing, thereby and reclaims some fuel efficiencies.About discharging limited target, for example near the city, can call similar strategy.

As an example of protectiveness strategy, if the stroke of plan from New York to Chicago, then system can have in the beginning of stroke or in the centre of stroke or in the ending of stroke and makes train operation get slower option.In one embodiment, stroke optimizer system will optimize the stroke plan, to allow carrying out slower operation in the ending of stroke, because unknown constraint (such as but not limited to weather conditions and railway maintenance) can develop into and become known during stroke.Consider that as another kind if crowded zone is known traditionally, then plan can be developed into and has the option that has more alerting abilitys around these areas that crowds traditionally.Therefore, stroke optimizer system also can consider future in time/distance and the weighting that changes/punishment, and/or based on the experience consideration weighting/punishment in known/past.Any time during stroke, plan and replan other train that also can consider on weather conditions, track condition, the track etc., wherein, the stroke plan is regulated accordingly.

Fig. 3 further discloses other element of a part that can be stroke optimizer system 12.Stroke optimizer system configuration becomes so that the optimized stroke plan of calculating train 31 based on the parameter of aforesaid target about locomotive 42, train 31, track 34 and task.Stroke optimizer system comprises the treater 44 that can operate to receive from the information of locator element 30, track characteristic element 33 and sensor 38.(treater 44 can be the general controls unit in the train, is proprietary for stroke optimizer system 12 perhaps.) algorithm 46 (computer program) is in treater 44 interior operations, to realize some functional element of stroke optimizer system.In one exemplary embodiment, as be derived from the have simplification and assumption solution of nonlinear differential equation of physical property of (it provides) in algorithm, set up the stroke plan based on the model of the train behavior when train 31 moves along track 34.Stroke optimizer system 12 can access the information from locator element 30, track characteristic element 33 and/or sensor 38; carry out lower person's stroke plan with generation: minimize (perhaps at least reduce) locomotive marshalling 42 consumption of fuel, minimize (perhaps reducing at least) locomotive marshalling 42 discharging, set up expectation travel time, guarantee appropriate crew member's operating time in the locomotive marshalling 42, and/or otherwise optimize the operating parameter of train or other vehicle.In one exemplary embodiment, also provide controller component 51 (and/or chaufeur or operator).As discussed herein, when train was deferred to the stroke plan, controller component 51 was used for the control train.In the exemplary embodiment that this paper further discusses, controller component 51 is independently made train operation and is determined.In another exemplary embodiment, the operator can relate to the guiding train and defer to the stroke plan.

An exemplary embodiment of stroke optimizer system is characterised in that the ability of any plan that initial foundation and rapid " online " modification are performed.Because the planning optimization algorithm efficiency, relate to long apart from the time, this comprises sets up original plan.When the total length of stroke profile surpasses to set a distance, can cut apart task with algorithm 46, wherein, task can be by anchor point on the way separately.Although only single algorithm 46 is discussed, those skilled in the art will easily understand, but when the algorithm gang, can use a more than algorithm (and/or identical algorithm can be carried out repeatedly).Anchor point can comprise the physical slot that train 31 is stopped on the way, such as but not limited to: the by-track of plan on the monorail railway, to meet with opposite traffic at this place (or from current train back through a train), perhaps the enterprise in compartment will be collected and send to the parking lot by-track maybe, and the position of the work of mapping out.At this anchor point on the way place, may need train 31 in place in the time of mapping out, and stop or moving with the speed in the specialized range.The anchor point place is called " length of the halt " from the time length of reach on the way.

In one exemplary embodiment, stroke optimizer system can be divided into the stroke that the mode of ad hoc system will be grown short sections.Each sections can be slightly arbitrarily in length, but typically locates or choose each sections at the critical importance upright stone tablet place that limits with the convergence of other route at physical slot (for example stopping or larger speed restriction).In the situation of the given part of selecting by this way or sections, produce the driving profile that changes with the time of travelling (it is thought of as independent variable) for each section track, as shown in Figure 4.Fuel/the running time that can calculate the use that is associated with each sections before train 31 arrives this section track is compromise.Can produce total stroke plan according to the driving profile that produces for each sections.Exemplary embodiment of the present invention is distributed in running time among all sections of stroke in the mode of optimum, so that total travel time of meet requirements, and the total fuel that consumes at all sections is few as much as possible.In Fig. 6, disclose exemplary syllogic stroke, and below it has been discussed.But although it will be apparent to those skilled in the art that a plurality of sections are discussed, the stroke plan can comprise the single sections that represents whole stroke.

Fig. 4 has described the exemplary embodiment of fuel use/running time curve 50.Such as mentioned before, when the optimum stroke profile of a plurality of running times that calculate each sections, produce this curve 50.That is to say that for given running time 49, the fuel 53 of use is the result of such detailed driving profile that calculates as described above.In case distributed the running time of each sections, just according to before the solution calculated determine the power of each sections/speed plan.If between sections, have the constraint about any anchor point on the way of speed, such as but not limited to the variation of velocity limit, then during the generation of optimum stroke profile, they mated.If speed restriction only changes, then must only recomputate fuel use/running time curve 50 for the sections that changes in single sections.This has reduced for recomputating the more part of stroke or the time of sections.If it is larger that locomotive marshalling or train change along circuit, for example because the loss of locomotive or collecting or sending of compartment then must be recomputated the driving profile of all sections subsequently, thereby produce the new example of curve 50.Then these new curves 50 will use with new time schedule target, to plan remaining stroke.

In case produce as described above the stroke plan, with regard to the track of operating speed and power-distance come the travel time of needs sentence minimum fuel with and/or discharge and achieve the goal.There is the several mode of carrying out the stroke plan.As providing in more detail below, in one exemplary embodiment, when in operator's " guidance " pattern, the operator is shown information, so that the operator defers to, with required power and the speed that realizes determining according to optimum stroke plan.In this pattern, operation information comprises the operating conditions of advising that the operator should use.In another exemplary embodiment, automatically perform and accelerate and the maintenance constant speed.But when train 31 was slowed down, the operator was responsible for brake application system 52.In another exemplary embodiment, provide on demand the order that is provided with power and braking, with the speed of deferring to expectation-apart from the path.

Come to provide modification to the power control sequence in the profile with feedback control strategy, to make amendment for the event that changes such as, but not limited to the contrary wind of fluctuation and/or the train load that causes with the wind.When making comparisons with the calculated hypothesis of optimized stroke, another this error can by Train Parameters (such as but not limited to, train weight and/or gradeability) in error cause.The error of the third type can occur about being included in the information in the track database 35.Another possible error can relate to because the not modeled performance difference that locomotive engine, the elimination of traction motor heat and/or other factors cause.Speed in the actual speed that the feedback control strategy comparison changes with the position and the optimal profile of expectation.Based on this difference, add the modification to optimum power profile, so that actual speed is driven towards optimal profile.In order to ensure stable adjusting, the algorithm that can afford redress, this backoff algorithm filters the feedback speed that adds in the Dynamic Modification, so that guaranteed closed-loop characteristic stability.Compensation can comprise the standard dynamic compensation that the technical personnel in Control System Design field uses, to satisfy performance objective.

Stroke optimizer system provide the simplest and therefore the fastest means adapt to variation in the stroke target, these means are rules, rather than the exception in the rail operations.In one exemplary embodiment, in order to determine from point " A " to point " B " (wherein, have the station along road) fuel-optimum stroke, and in case begun stroke just for the remainder of stroke new trip more, can find optimum stroke profile with the suboptimum decomposition method.All velocity limits and locomotive capacity-constrained are satisfied in the running time that uses modeling method, method of calculating to find to have regulation and the stroke plan of initial and final velocity when having the station with box lunch.Use although following discussion relates to optimized fuel, it also can be applicable to optimize other factors, such as but not limited to discharging, time schedule, bus attendant traveling comfort and load effect.Can when the beginning of exploitation stroke plan, use the method, and the more important thing is the variation of using the method after starting stroke, to adapt to target.

As discussed herein, exemplary embodiment of the present invention can adopt the setting shown in the exemplary process diagram of describing among Fig. 5 and the setting as the exemplary syllogic example of depicted in greater detail among Fig. 6.As shown in the figure, stroke can be divided into two or more sections: T1, T2 and T3.(as mentioned above, feasible is that stroke is considered as single sections.) as discussed herein, the sections border can not produce equal sections.On the contrary, sections can use border nature or proprietary for task.Can calculate in advance optimum stroke plan for each sections.If fuel use-travel time is stroke target to be satisfied, then set up fuel-travel-time curve for each sections.As discussed herein, curve can be based on other factors, and wherein, factor is stroke plan target to be satisfied.When travel time is the parameter that is determined, when satisfying all travel time constraints, calculate the travel time of each sections.Fig. 6 shows the velocity limit 97 of exemplary syllogic, 200 miles (321.9 kilometers) strokes.What further illustrate is 200 miles slope change 98 on (321.9 kilometers) stroke.The combination Figure 99 of curve of fuel-running time that has also shown the use of each sections that shows stroke.

Described optimal control setting and method of calculating described herein before using, stroke optimizer system can produce the stroke plan of running time with regulation and initial and final velocity, satisfies all velocity limits and locomotive capacity-constrained when having the station with box lunch.Use although following detailed discussion relates to optimized fuel, it also can be applicable to optimize the other factors that this paper discusses, such as but not limited to discharging.Crucial alerting ability is the length of the halt that adapts to the expectation at place, station, and considers the constraint that arrives the earliest and leave about the position that for example can need in monorail operation (it is important wherein, entering by-track and the time by by-track).

Exemplary embodiment of the present invention find in time T, travel, from distance B ₀To D _MFuel-optimum stroke, at D1 ..., D _M-1Station in the middle of the place has M-1, and arrival and the time departure located at these stations are retrained by following formula:

t _min(i)≤t _arr(D _i)≤t _max(i)-Δt _i

t _arr(D _i)+Δt _i≤t _itep(D _i)≤t _max(i)i＝1，...，M-1

Wherein, t _Arr(D _i), t _Dep(D _i) and Δ t _iRespectively the time of advent, time departure and the minimum length of the halt at place, i station.Suppose that Fuel dominance represents to minimize length of the halt, therefore t is arranged _Dep(D _i)=t _Arr(D _i)+Δ t _i, second inequality above it has been eliminated.Suppose for each i=1 ..., M is about running time t (T _Min(i)≤t≤T _Max(i)), from D _I-1To D _iFuel-optimum stroke is known.If F _i(t) be to use corresponding to the fuel of this stroke.If from D _J-1To D _jRunning time be expressed as T _j, then at D _iThe time of advent be given as:

$t_{\mathrm{arr}}\left(D_i\right)=\underset{j=1}{\overset{i}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})$

Wherein, Δ t ₀Be defined as zero.Then by finding T _i(i=1 ..., M) obtain running time T, from D ₀To D _MFuel-optimum stroke, its with

$t_{\min }\left(i\right)\&le;\underset{j=1}{\overset{i}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})\&le;t_{\max }\left(i\right)-{\mathrm{\&Delta;t}}_i,i=1,...,M-1$

$\underset{j=1}{\overset{M}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})=T$

For condition minimizes

$\underset{i=1}{\overset{M}{\mathrm{\&Sigma;}}}{F}_i\left(T_i\right)T_{\min }\left(i\right)\&le;T_i\&le;T_{\max }\left(i\right)$

In case stroke is underway, then problem exactly when travelling stroke for stroke (originally with time T from D ₀To D _M) remainder redefine fuel-optimal solution, but wherein, interference can hinder defers to fuel-optimal solution.If current distance and speed are respectively x and v, wherein, D _I1＜x≤D _iAnd from stroke, establishing the current time is t _ActThen, by finding

J=i+1 ... M obtains from x to D _M(it will remain on D the original time of advent _MFuel-the optimal solution of remainder of the stroke place), its with

$t_{\min }\left(i\right)\&le;t_{\mathrm{act}}+{\tilde{T}}_i\&le;t_{\max }\left(i\right)-{\mathrm{\&Delta;t}}_i$

$t_{\min }\left(k\right)\&le;t_{\mathrm{act}}+{\tilde{T}}_i+\underset{j=i+1}{\overset{k}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})\&le;t_{\max }\left(k\right)-{\mathrm{\&Delta;t}}_k,k=i+1,...,M-1$

$t_{\mathrm{act}}+{\tilde{T}}_i+\underset{j=i+1}{\overset{M}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})=T$

For condition minimizes

${\tilde{F}}_i({\tilde{T}}_i,x,v)+\underset{j=i+1}{\overset{M}{\mathrm{\&Sigma;}}}{F}_j\left(T_j\right)$

Here,

Be rate of onset at the x place be v, that in time t, travel, from x to D _iThe fuel of use of optimization stroke.

Such as discussed above, be to station-station stroke configuration optimal solution according to the sections that separates in order to make it possible to the carrying out more efficient illustrative methods of replanning.For having running time T _iFrom D _I-1To D _iStroke, select one group of intermediate point D _Ij, j=1 ..., N _i-].If D _I0=D _I-1And

Then will be from D _I-1To D _iThe fuel of optimum stroke use and to be expressed as:

$F_i\left(t\right)=\underset{i=1}{\overset{N_i}{\mathrm{\&Sigma;}}}{f}_{\mathrm{ij}}(t_{\mathrm{ij}}-t_{i,j-1},v_{i,j-1},v_{\mathrm{ij}})$

F wherein _Ij(t, v _{I, j1}, v _Ij) in time t, travel, from D _{I, j-1}To D _IjThe fuel of optimum stroke use, initial and final velocity is v _{I, j-1}To v _IjIn addition, t _IjCorresponding to distance B _IjOptimum stroke in time.According to definition, have

Because train rests in D _I0With

The place, $v_{i0}=v_{{\mathrm{iN}}_i}=0.$

Top statement makes it possible to by at first determining function f _Ij(), 1≤j≤N _i, then find τ _Ij, 1≤j≤N _iAnd v _Ij, 1≤j＜N _iAlternatively determine function F _i(t), its with

$\underset{j=1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ij}}=T_i$

v _min(i，j)≤v _ij≤v _max(i，j)j＝1，...，N _i-1

$v_{i0}=v_{{\mathrm{iN}}_i}=0$

For condition minimizes

$F_i\left(t\right)=\underset{i=1}{\overset{N_i}{\mathrm{\&Sigma;}}}{f}_{\mathrm{ij}}({\mathrm{\&tau;}}_{\mathrm{ij}},v_{\begin{array}{cc}i,\mathrm{<figure-callout\; id="1"\; label="j"\; filenames="209402.png,210740.png"\; state="\{\{state\}\}">j</figure-callout>}& 1\end{array}},v_{\mathrm{ij}})$

By selecting D _Ij(for example, at speed restriction or engagement point place) can minimize v _Max(i, j)-v _Min(i, j) need to know f thereby minimize _IjThe scope of ().

Based on top cutting apart, replanning method than the simpler suboptimum of method recited above is to be limited to train at range points D with replanning _Ij, 1≤i≤M, 1≤j≤N _iTime during the place.At a D _IjThe place can be by finding τ _Ik, j＜k≤N _i, v _Ik, j＜k＜N _i, and τ _Mn, i＜m≤M, 1≤n≤N _m, v _Mn, i＜m≤M, 1≤n＜N _mDetermine from D _IjTo D _MNew optimum stroke, its with

$t_{\min }\left(i\right)\&le;t_{\mathrm{act}}+\underset{k=j+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ik}}\&le;t_{\max }\left(i\right)-{\mathrm{\&Delta;t}}_i$

$t_{\min }\left(n\right)\&le;t_{\mathrm{act}}+\underset{k=j+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ik}}+\underset{m=i+1}{\overset{n}{\mathrm{\&Sigma;}}}(T_m+{\mathrm{\&Delta;t}}_{m-1})\&le;t_{\max }\left(n\right)-{\mathrm{\&Delta;t}}_n,n=i+1,...,M-1$

$t_{\mathrm{act}}+\underset{k=j+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ik}}+\underset{m=i-1}{\overset{M}{\mathrm{\&Sigma;}}}(T_m+{\mathrm{\&Delta;t}}_{m+1})=T$

Be condition, wherein

$T_m=\underset{n=1}{\overset{N_m}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{mn}}$

Minimize

$\underset{k=i+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{f}_{\mathrm{ik}}({\mathrm{\&tau;}}_{\mathrm{ik}},v_{i,k-1},v_{\mathrm{ik}})+\underset{m=i+1}{\overset{M}{\mathrm{\&Sigma;}}}\underset{n=1}{\overset{N_m}{\mathrm{\&Sigma;}}}{f}_{\mathrm{mn}}({\mathrm{\&tau;}}_{\mathrm{mn}},v_{m,n-1},v_{\mathrm{mn}})$

By waiting for T _m, i＜m≤M recomputates, until reach range points D _iTill, obtain further simplification.Like this, at D _I-1And D _iBetween some D _IjThe place only need to be at τ _Ik, j＜k≤N _i, v _Ik, j＜k＜N _iMinimizing above the upper execution.Increase on demand T _i, longer from D than what planned to adapt to _I-1To D _IjAny actual driving time.If possible, the back is passed through at range points D _iThe place recomputates T _m, i＜m≤M comes this increase is compensated.

About top disclosed closed loop configurations, train 31 is moved to the summation that the needed total input energy of a B comprises four compositions from an A, particularly, the difference of the kinetic energy between some A and the B; The difference of the potential energy between some A and the B; Because the waste of power that friction causes and other towing loss; And pass through the energy that brake application dissipates.Suppose that starting and ending speed equates (for example, for what fix), then first composition is zero.In addition, second composition is independent of and drives strategy.Therefore, it is just much of that to minimize the summation of latter two composition.

Defer to the constant speed profile and can minimize the towing loss.When not needing braking to keep constant speed, defer to the constant speed profile and also minimize total energy input.But if need braking to keep constant speed, then only brake application will probably increase the energy of total needs in order to keep constant speed, because need to replenish the energy that braking is dissipated.By reducing velocity variations, the minimizing of the gained towing loss that is caused by braking remedies if extra retarding loss has surpassed, and then exists some brakings in fact can reduce the possibility that total energy uses.

Finish according to the collection of above-mentioned event replan after, can defer to new optimum gear/speed plan with closed loop control as herein described.But, in some cases, may have insufficient time to and carry out the planning that above-mentioned sections decomposes, and particularly, when having the speed restriction of the key that must consider, need alternatives.Exemplary embodiment of the present invention realizes this alternatives with the algorithm that is called " intelligent cruise control ".This intelligent cruise control algorithm is the online efficient method that produces for the suboptimal design of the energy efficient (so fuel-efficient) of driving train 31 in known landform.This algorithm hypothesis is known train 31 in the free position along track 34 of institute, and the gradient and the curvature-position of knowing track.Method depends on the Point-mass Model of the motion of train 31, can be as estimate adaptively the parameter of this model as described in more early according to the on-line measurement of train motion.

The intelligent cruise control algorithm has three main components, particularly is: modified velocity limit profile, and it is as (and/or discharge efficient or any other objective function) guiding of the energy efficient around reducing at velocity limit; Desirable speed governing or dynamic brake arrange profile, its attempt minimize velocity variations and the braking between average out; And be used for assigning to produce in conjunction with latter two one-tenth the mechanism of gear order, not mating when it adopts velocity feedback loop to come compensating Modeling parameter and feasibility parameter to make comparisons.Intelligent cruise control can adapt to the strategy that does not carry out active braking (for example, signal driver and hypothesis chaufeur provide essential braking) in the exemplary embodiment of the present invention or carry out the initiatively modification of braking.

About not controlling the control algorithm that cruises of dynamic brake, four exemplary compositions are modified velocity limit profiles, and it is as the guiding of the energy efficient around reducing at velocity limit; Send the notification signal of notifying the operator should brake application the time; Desirable speed governing profile, it attempts to average out minimizing velocity variations and notify between operator's brake application; Adopt backfeed loop to come the unmatched mechanism of compensation model parameter and feasibility parameter.

Also be included in the exemplary embodiment of stroke optimizer system is the method for confirming the key parameter value of train 31.For example, about estimating train weight, can survey the error that can develop along with the past of time with kalman filter and recursive least-squares method.

Fig. 7 is the scheme drawing that has shown a flow of information embodiment, between the element of stroke optimizer system.As previously discussed, the remote facility such as scheduling 60 can provide information.As shown in the figure, can provide this information to carrying out control element 62.And, be supplied to carry out control element 62 be from locomotive model database 63 (" model locomotive ") information, (comprise for example track grade information and velocity limit information from the information of track and/or sections data bank 36, and the Train Parameters of estimating, such as but not limited to, the weight of train and drag coefficient), and from the specific consumption of fuel table of specific consumption of fuel estimator 64.Execution control element 62 to stroke optimizer system 12, has carried out more detailed open in Fig. 1 information supply to stroke optimizer system 12.In case as calculated the stroke plan, just will supply according to plan to driving consultant, chaufeur/operator or controller component 51.Also the stroke plan is supplied to and carries out control element 62, can compare stroke so that when other new data are provided, carry out control element 62.

Such as discussed above, but controller component 51 Lookup protocols gears power, namely or the gear setting of setting up in advance, perhaps best continuous gear power.Except speed command is supplied to the train 31, provide telltale 68, so that the operator can watch the planer to provide what suggestion.The operator is addressable control panel/control desk 69 also.By control panel 69, the operator can determine whether to use the gear power of suggestion.For this reason, but the power of operator's limited target power or suggestion.That is to say that at any time, what power setting operation marshalling will have final power with to the operator to locomotive always.This comprises whether brake application when stroke plan suggestion is slowed down train 31 of decision.For example, if in the operation of the region of dark, or when mode that can not be by electronics from the information of roadside equipment with communication to train, and inverse operation person is when observing visual signal from roadside equipment, and the operator is based on being included in the information in the track database and coming input command from the visual signal of roadside equipment.How to work based on train 31, about the information supply of fuel measurement to specific consumption of fuel estimator 64.Because the direct measurement of fuel flow is not typically to obtain in locomotive marshalling, thus use the physical model (those that for example in the exploitation optimal plan, use) of calibration carry out about up to the present the stroke internal consumption and defer to optimal plan and expect all information of following fuel.For example, this prediction can include but not limited to the fuel of the use that obtains to accumulate with total horsepower of actual measurement and known fuel characteristic and emission performance and the discharging of generation.

Train 31 also has locator element 30, and GPS sensor for example is such as top discussion.With information supply to Train Parameters estimator 65.This information can include but not limited to any variation of GPS sensing data, tractive force/braking force data, braking mode data, speed and speed data.With information and the velocity limit information about the gradient, give execution control element 62 with the weight of train and drag coefficient information supply.

Exemplary embodiment of the present invention also can allow to use the power of continuous variable in optimizing planning and closed loop control realization.In traditional locomotive, power typically is quantized into eight discrete ranks.Modern locomotive can realize the continuous variation of horsepower, in the optimization method of describing before this can be attached to.By continuous power, locomotive 42 is the optimized operation situation further, for example by minimizing assistant load and power transmission loss, and the engine horsepower zone of fine setting optimum efficiency or with the point of engine horsepower zone fine setting to the discharging border that increases.The quantity that example includes but not limited to minimize the cooling system loss, regulate alternator voltage, regulate the axle that engine speed and minimizing driven.In addition, locomotive 42 can minimize assistant load and power transmission loss with the performance requriements of Rail Detection data bank 36 and prediction, thinks that target consumption of fuel/discharging provides optimum efficiency.Example includes but not limited to reduce in the quantity of the axle that is driven on the flat landform and precooler car engine before entering the tunnel.

The exemplary embodiment of stroke optimizer system also can be regulated the performance of locomotive with the performance of Rail Detection data bank 36 and prediction, for example to guarantee that train has enough speed during near hills and/or tunnel at it.For example, this can be expressed as the constraint of velocity in specific location, and this constraint of velocity becomes the part that optimal plan that solve an equation (OP) produce generates.In addition, stroke optimizer system can be in conjunction with the train operation rule, such as but not limited to tractive force ramp rate and maximum braking force ramp rate.These can directly be attached in the formation of best stroke profile, or alternatively are attached to control in the closed-loop regulator of motive use with realize target speed.

In one embodiment, stroke optimizer system only is installed on the pilot engine of train marshalling list.Although exemplary embodiment of the present invention do not rely on data or with the interaction of other locomotive, but it can with the marshalling manager (such as U.S. Patent No. 6,691,957 and U.S. Patent No. 7, disclosed such in 021,588, these two patents are had by this cessionary, and both are all by with reference to being attached to herein) and/or marshalling optimizer function combine, to improve efficient.Do not get rid of the interaction with many trains, as by shown in the example of the scheduling of two of arbitrations as herein described " optimized independently " train like that.

Train with distributed power system can operate in different patterns.Pattern be wherein all locomotives in the train with identical gear command operation.So, if pilot engine at command driven-N8, then all unit will be produced driving-N8 power by order in the train.Another pattern of operation is " independence " control.In this pattern, locomotive or the locomotive crew that is distributed in the train everywhere can be with different drivings or brake power operations.For example, when train during on the mountain top, pilot engine (on mountain downward domatic) can place braking, and in the middle part of train or the locomotive at place, end (the mountain make progress domatic on) can be in driving.Doing like this is pulling force on the mechanical coupling that minimizes joining rails compartment and locomotive.Traditionally, the operation distributed power system needs the operator to come each remote locomotive of artificially order or locomotive crew by the telltale in the pilot engine in " independence " pattern.Use is based on planning model, train configuration information, Rail Detection data bank, vehicle-mounted working rule, position determination system, real-time closed-loop power/braking control and the sensor feedback of physical property, and system can automatically operate distributed power system in " independence " pattern.

When operating with distributed-power, the operator in pilot engine can be controlled at by the control system such as the distributed-power control element operating function of the remote locomotive in the long-range marshalling.Therefore, when operating with distributed-power, the operator can order each locomotive to be grouped in different gear powered stage other places operation (perhaps marshalling can be in driving, and another can be in braking), wherein, each the independent locomotive in the locomotive marshalling is with identical gear power operation.In one exemplary embodiment (wherein stroke optimizer system install ON TRAINS and with the communication of distributed-power control element), the gear motivation level of the current journey locomotive marshalling of looking in the distance is as optimized stroke plan is advised the time, stroke optimizer system will be sent to the remote locomotive marshalling to this power setting, to realize.As following the discussion, also be like this about braking.

Exemplary embodiment of the present invention can with the wherein discontinuous marshalling of locomotive (for example, one or more locomotives train anterior and other at the middle part of train and/or at the rear portion) use together.This configuration is called " distributed-power ", wherein, standard between the locomotive connect by radio link or with so that locomotive to be linked to outside assist with cable alternative.When operating with distributed-power, the operator in the pilot engine can be controlled at by the control system such as the distributed-power control element operating function of the remote locomotive in the marshalling.Particularly, when operating with distributed-power, the operator can order each locomotive to be grouped in different gear powered stage other places operation (perhaps marshalling can be in driving, and another can be in braking), wherein, each the independent locomotive in the locomotive marshalling is with identical gear power operation.

(wherein stroke optimizer system installs ON TRAINS in one exemplary embodiment, and with the communication of distributed-power control element), the gear motivation level of the current journey locomotive marshalling of looking in the distance is as optimized stroke plan is advised the time, stroke optimizer system will be sent to the remote locomotive marshalling to this power setting, to realize.As following the discussion, also be like this about braking.When operating with distributed-power, described optimization problem before can strengthening is to allow having extra degree of freedom, because can independently control each remote unit from guidance unit.Suppose also to comprise reflecting the model of the power in the train, the value of doing like this is, extra target or the constraint relevant with power in the train can be attached in the performance function.Therefore, exemplary embodiment of the present invention can comprise with a plurality of speed control and manages better power and consumption of fuel and discharging in the train.

In the train that uses the marshalling manager, the pilot engine in the locomotive marshalling can from this marshalling in other locomotive with different gear power setting operations.Other locomotive in this marshalling is with identical gear power setting operation.Can use stroke optimizer system in conjunction with the marshalling manager, with the gear power setting of the locomotive of order in marshalling.Therefore, based on stroke optimizer system, because the marshalling manager is divided into two groups with locomotive marshalling, i.e. pilot engine and follow the unit, thus will order pilot engine to keep off power operation with certain, and order is followed locomotive and is kept off power operation with other certain.In one exemplary embodiment, the distributed-power control element can be system and/or the equipment of taking this operation in.

Equally, when using the marshalling optimizer with the locomotive marshalling, can use stroke optimizer system in conjunction with the marshalling optimizer, to determine the gear power of each locomotive in the locomotive marshalling.For example, suppose that stroke counter divides the gear power setting of locomotive marshalling suggestion 4 into.Based on the position of train, the marshalling optimizer will obtain this information, and determine that then the gear power of each locomotive in the marshalling arranges.In this was realized, the communication channel that has improved in train arranged the efficient that gear power arranges.In addition, such as discussed above, can carry out with dcs the realization of this configuration.

In addition, as previously discussed, can come when to use the modification that braking continues about train marshalling list and replan based on the horizon that pays close attention to (such as but not limited to railway intersection, slope change, near by-track, near the parking lot, warehouse with near bunker station) with exemplary embodiment of the present invention, wherein, each locomotive in the marshalling can need different brakings to select.For example, if train is climbing over the hills, pilot engine may must enter braking mode, and the remote locomotive that does not also arrive the summit on hills may must remain in driving condition.

Fig. 8,9 and 10 is signals according to various embodiments of the present invention, that be used for the dynamic display 68 that used by the operator.As shown in Figure 8, a part that can be used as dynamic display 68 provides stroke profile 72.In profile, provide the position 73 of locomotive.Information such as the quantity 106 in the compartment in train length 105 and the train is provided.Demonstration key element about track grade 107, curve and roadside element 108 (comprising Bridge position 109) and train speed 110 also is provided.Telltale 68 allows the operator to observe this information, and also sees train along route wherein.Provide and distance and/or information that to arrive estimated time such as the position of crossing 112, signal 114, velocity variations 116, terrestrial reference 118 relevant with destination 120.Also provide the time of advent management tool 125, determine the conservation of fuel of during stroke, realizing to allow the user.The operator has and changes the time of advent 127 and witness how this affects the ability of conservation of fuel.As discussed herein, it will be apparent to those skilled in the art that conservation of fuel is the only example of a target that available management tool is checked.For this reason, depend on observed parameter, other parameter that observable this paper discusses, and can be with operator's appreciiable management tool is assessed other parameter.Also provide about bus attendant operated train information how long for the operator.In the exemplary embodiment, time and range information can be shown time and/or distance, until specific event occurs and/or arrive specific position, perhaps it can provide total excessively time.

As shown in Figure 9, exemplary display provides the information about marshalling data 130, event and situation Figure 132, time of advent management tool 134 and action key 136.The information of discussing above being similar to also is provided in this telltale.This telltale 68 also provides action key 138, replans to allow the operator, and throws off 140 stroke optimizer systems.

Figure 10 has described another exemplary embodiment of telltale.Comprise air brake state 71, have the analog rate meter of digital plug-in unit 74 and be appreciiable about the typical data of the modern locomotive of the information of the tractive force take ft lbf as unit (or traction amperes of DC locomotive).The calculated current optimal velocity and the accelerometer figure that provide indicating device 74 to show to carry out are so that take miles per hour (mph)/minute replenish reading as unit.The important new data that optimal plan is carried out comprises scroll bar figure 76 in the centre of screen, and optimal velocity and gear setting-distance are made comparisons with the current history of these variablees.In this exemplary embodiment, obtain the position of train with locator element.As shown in the figure, by confirm how far train has from its final destination, absolute location, initial destination, intermediate point and/or operator input to provide the position.

Bar chart provides the prediction of deferring to the required velocity variations of optimal plan, and this is useful to manual control, and bar chart is in automatic control period monitoring plan-actual conditions.As discussed herein, for example, when in training mode, the operator can defer to gear or the speed that exemplary embodiment of the present invention is advised.Vertical bar provides the figure of expectation gear and actual gear, and also the mode with numeral has shown expectation gear and actual gear below bar chart.When using continuous gear power, as mentioned above, showing will be only around immediate discrete equivalent.Show that can be simulation shows, thus display simulation equivalent or percentum or true horse power/tractive force.

The key message of stroke state is presented on the screen, and has shown the current gradient 88 that train is just running into, at the current gradient that is run into by pilot engine along other local position of train or the aviation value in train length.And shown so far in the next stop that the distance 90 of travelling in the works, accumulative total are used fuel 92, plan wherein 94 distance of the next stop of mapping out (and/or from), and the time of advent 96 current and that estimate of the next stop.Telltale 68 has also shown the most-likely time that arrives possible destination according to the available plan that calculates.If need late arrival, can carry out and replan.The △ planning data has shown the state of fuel and the time schedule before or after the current optimal planning.Negative refers to be compared still less fuel or has done sth. in advance with plan, positive number refers to plan and compared more fuel or evening, and in opposite direction compromise (slowing down can make Train delay with fuel saving, and vice versa) typically.

Free in institute, these telltales 68 are the operator and provide that train is positioned at snapshot where for the driving plan of current formulation.This telltale only is for illustrative purposes, because there are the many alternate manners that this information shown/conveys to operator and/or scheduling.For this reason, more than disclosed information can mutually mix, so that the demonstration different from above disclosed demonstration to be provided.

The further feature that can be included in the stroke optimizer system includes but not limited to allow to produce data logging and report.This information can be stored ON TRAINS, and downloads to non-vehicle-mounted system at some time points.Can download by artificial and/or transmission over radio.By engine display, this information also can be and can be observed by the operator.Data can comprise information, such as but not limited to fuel imbalance, the outer train route of stroke on the fuel of operator input, time that system operates, saving, the locomotive in the train, and the system diagnostics problem, for example whether the GPS sensor is out of order.

Because the stroke plan also must be considered the bus attendant operating time of permission, so when the plan stroke, exemplary embodiment of the present invention can be considered this information.For example, if bus attendant exercisable maximum time is eight hours, then stroke is retrofit into and comprises the stop position that substitutes current bus attendant for new bus attendant.The stop position of this regulation can include but not limited to the track parking lot, meets/through position etc.If when stroke carries out, can surpass travel time, then stroke optimizer system can be by operator's override (override), the standard of determining to satisfy the operator.At last, no matter the operating conditions of train how (for example, high capacity, low speed and train stretch situation), the operator is retentive control, with speed and/or the operating conditions of domination train.

Use stroke optimizer system, train can be with a plurality of operating mode/configuration operations.In an operating concept, stroke optimizer system can be provided for arranging the order of propulsive force and dynamic brake.Then the operator processes all other train functionality.In another operating concept, stroke optimizer system can provide the order that only is used for the domination propulsive force.Then the operator processes other train functionality of dynamic brake and all.In another operating concept, stroke optimizer system can be provided for arranging the order of the application of propulsive force, dynamic brake and air brake.Then the operator processes all other train functionality.

Stroke optimizer system also can be used to notify operator's item of paying close attention on the horizon and/or treats Adopts measure.Particularly, use the prediction logic of exemplary embodiment of the present invention, to the continuous modification of optimum stroke plan with replan and/or track database, can notify operator crossing on the horizon, signal, slope change, braking maneuver, by-track, track parking lot, bunker station etc.This notice can occur in audible mode, and/or occurs by operator interface therewith.

Particularly, use is based on planning model, train configuration information, Rail Detection data bank, vehicle-mounted working rule, position determination system, real-time closed-loop power/braking control and the sensor feedback of physical property, system provides the action that needs to the operator, and/or the action of notifying the operator to need.Notice can be appreciiable and/or audible.Example comprises notifies the crossing that needs the operator to start locomotive loudspeaker and/or bell, and notice does not need the operator to start " noiseless " crossing of locomotive loudspeaker or bell.

In another exemplary embodiment, use the above planning model based on physical property of discussing, train configuration information, Rail Detection data bank, vehicle-mounted working rule, position determination system, in real time enclosed (closed) power/braking to control and sensor feedback, can be the operator provides the permission operator to understand the information (for example gauge on the telltale) when train will arrive various positions, as shown in Figure 9.System allows operator's adjustment travel plan (for example target the time of advent).This information (actual estimated time of arrival maybe needs to derive from the outer information of car) also can be sent to the control center, regulates target time of advent to allow scheduler or dispatching system.The objective function that this permission system regulates rapidly and optimization is suitable (for example compromise speed and fuel use).

Figure 11 has described to have an exemplary embodiment of the railroad track network of many trains.In railway network 200, desirable is to obtain a plurality of mutual tracks 210,220,230 and optimized fuel efficiency and time of advent of train 235,236,237 whole network.As shown in the figure, shown a plurality of tracks 210,220,230, train 235,236,237 is on each corresponding track.Although locomotive marshalling 42 is illustrated as train 235,236, a part of 237, those skilled in the art will easily understand, and any train all can only have the single locomotive marshalling with single locomotive.As disclosed herein, remote facility 240 also can relate to the discharging that forms to improve fuel efficiency and reduce train by optimized train dynamics.This available treater 245 (for example computing machine) that is positioned at remote facility 240 places is realized.In another exemplary embodiment, hand-held device 250 can be used to be conducive to form to improve train 235,236,237 fuel efficiency by optimized train dynamics.Typically, in any method of these methods, when establishment during train, usually in the hump yard, track parking lot etc. locates to carry out train 235,236,237 configuration.

Alternative, as discussed below, treater 245 can be positioned on the train 235,236,237 or on another train, wherein, can use the input from other train to realize the train setting.For example, if certain train has been finished task in same rail recently, then can be when current train be being carried out and/or will begin its task, will be supplied to current train from the input of the task of this train (that has namely finished the work lists).Therefore, when the configuration train can occur in Train Schedule, or even during time of run.For example, can dispose train locomotive with real-time configuration data.About using the data from another train that a this example is provided in the above.Another example is so that must use other data that are associated with the stroke optimization of train, as mentioned above.In addition, can use from the input of a plurality of sources (such as but not limited to dispatching system, roadside system 270, operator, off-line real-time system, outer setting, distributed network, local area network and/or centralized network) and carry out the train setting.

Figure 12 has described to be used for forming to improve fuel efficiency and the diagram of circuit that reduces an exemplary embodiment of discharging the method for exporting by optimized train dynamics.As mentioned above, use and discharge in order to minimize fuel, keep the time of advent simultaneously, can minimize and accelerate and the braking of coupling.Also can minimize undesirable discharging by one group of minimum locomotive is provided with power.For example, in the train with some locomotives or train marshalling list, with higher power arrange make when one group of minimum locomotive is provided with power the residue locomotive enter the free time, unpowered await orders or as the following automatic engine starting of being discussed-stop (" AESS ") pattern, will reduce discharging.This is at least part of to be that the exhaust emissions after-treatment device on the locomotive (for example, catalyst) is in the temperature that is lower than them and optimally operates because when locomotive moves with lower power setting (for example keeping off 1-3).Therefore, organize into groups on time with the locomotive of minimum number or locomotive and to finish the work, will allow the exhaust emissions processing equipment in the operation of Optimal Temperature place with high power setting operation, thereby further reduce discharging.

At 510 places, the method shown in the diagram of circuit 500 among Figure 12 provides definite train load.When using driving engine in using at other, load is based on engine configurations and determines.Can be with load or train load estimator 560 are determined train load as shown in Figure 13.In one exemplary embodiment, based on estimating train load such as the information that disclosed among train composition list (docket) 480, obtains, as shown in figure 11.For example, train forms list 480 and can be included in the treater 245 (shown in Figure 11 and 13), and wherein, treater 245 estimates that perhaps train composition list 480 can be on paper, and wherein, the operator estimates.Train forms list 480 can comprise information such as number of carriages, carriage weight, compartment capacity, compartment tenure of use etc.In another exemplary embodiment, use historical data (such as but not limited to the train task before of carrying out identical stroke and similarly railway car configuration) to estimate train load.As mentioned above, available processors realizes using historical data, and perhaps historical data is realized using in the artificially.In another exemplary embodiment, use experience rule or table data are estimated train load.For example, configuration train 235,236,237 operator can based on the criterion that establishes (such as but not limited to the number of carriages in the train, in the train car types, in the train carriage weight and by the amount of the product of train transportation) determine the train load that needs.Also can realize that this same rule of thumb is definite with treater 245.

Referring to Figure 12, mission time and/or the time length of confirming diesel powered system disclosed at 520 places later.About the driving engine that in other is used, uses, confirm that mission time of diesel powered system and/or time length can be equal to limit mission time that within this mission time, the expectation engine configurations is finished the work.At 530 places, make determining about the minimum total output amount of needs based on train load.At 540 places, locomotive is chosen to so that the minimum power of meet requirements produces the fuel efficiency of raising and/or minimum discharging output simultaneously.Can select locomotive based on the locomotive type (based on its driving engine) of needs and/or the number of locomotives (based on driving engine quantity) that needs.Similarly, about the diesel motor that uses in other motive use (such as but not limited to boats and ships, OHV and fixed type power station), each a plurality of unit of using is used for finishing predict task unique concerning concrete application.

For this reason, as shown in figure 13, stroke determiner mission time 570 can be used to set the tasks the time based on the information such as, but not limited to weather conditions, track condition etc.Locomotive forms can be based on the type of the locomotive of needs (change along with power output or otherwise) and/or the minimum number of locomotives that needs.For example, based on available locomotive, those locomotives of the total output of meet requirements are just in time selected.For this reason, as an example, if there are ten locomotives to use, then the power output from each locomotive is determined.Based on this information, select to satisfy total power and require required minimum number of locomotives and type.For example, locomotive can have different horsepower (HP) rated value or start tractive force (TE) rated value.Except the total output of needs, can determine the distribution of the power in the train and the type of power.For example, in order to limit the maximum unitor power on the heavy train, locomotive can be distributed in the train.Another consideration is the capacity of locomotive.What possibility was feasible is the head end that four DC locomotives is placed on train; But, can not use four AC unit with identical HP at the head end place, because total hook power may surpass prescribed limit.

In another exemplary embodiment, can not select locomotive based on the quantity that reduces the locomotive of in train, using separately.For example, when with when using in the available locomotive three also to satisfy power to require to compare, if total power requires minimumly to satisfy by five in the available locomotive, just use five locomotives rather than three.Consider these options, those skilled in the art will easily understand, and the locomotive of minimum number can be selected from (with at random) one group of available locomotive of order.When train 235,236,237 has woven and has made decision at time of run and/or between must in office (wherein, do not come train 235,236,237 is provided with power with the residue locomotive), can make in this way, can be discussed in greater detail below.

The establishment train 235,236,237 o'clock, if train 235,236,237 needs reserve power, can add locomotive 255 or many locomotives (seeing Figure 11) of increase.But, this extra locomotive 255 is separated, use, discharge output and power variation to minimize fuel, but, this extra locomotive 255 can be used to provide reserve power under the locomotive that moves becomes situation about can not move, and/or provides extra power to finish stroke within the mission time that establishes.The locomotive 255 of separating can be placed the AESS pattern, use to minimize fuel, make simultaneously locomotive available when needed.In one exemplary embodiment, if when the locomotive 255 of reserve or separation is provided, when determining train load, the size (for example weight) of locomotive 255 can be taken into account.

Therefore, as above in further detail discussion, determine that train 235,236,237 is provided with the required minimum power of power can carry out during Train Schedule and/or operation (or task).In this case, in case made definite about optimized train dynamics, and confirm that locomotive or locomotive marshalling 42 in the train 235,236,237 provide the indispensable power that needs, just will the extra locomotive 255 that be used for using unconfirmed place the free time or the AESS pattern.

In one exemplary embodiment, total task run can be divided into a plurality of sections or sections, such as but not limited at least 2 sections, and as shown in figure 11 sections A and sections B for example.Based on finishing any sections institute's time spent amount, make under the power that needs increase satisfies the situation of stroke task object the reserve power that is provided by the locomotive 255 of separating can be provided.For this reason, can use the locomotive 255 of separating for concrete stroke sections, so that train 235,236,237 is returned to the table that is on time, and then turn off the locomotive 255 of separation for sections subsequently, the table if train 235,236,237 still is on time.

Therefore, in operation, pilot engine can place compartmented mode with the locomotive 255 that provides for the power that increases, until need power.This can be by the locomotive 255 use to lead to separated wired or wireless modem or realize from operator's communication (usually on pilot engine).In another exemplary embodiment, locomotive is with the distributed-power configuration operation, and the locomotive 255 of separating has been combined in the distributed-power configuration, but the locomotive 255 of separating is idle, and connects when the extra power of needs.In yet another embodiment, the operator places suitable pattern with the locomotive 255 of separating.

In one exemplary embodiment, based on train load and mission time, the initial setting up of locomotive is upgraded by the stroke optimizer, as above disclosed, and quantity and the type of the locomotive that driven is regulated.As exemplary illustration, the locomotive marshalling 42 of considering three locomotives have respectively 1,1.5 with 0.75 relevant maximum usable power.(relevant usable power is relevant with " reference " locomotive, and " reference " locomotive is used for determining total marshalling power.For example, in " 3000HP " situation with reference to locomotive, the first locomotive has 3000HP, and the second locomotive has 4500HP, and the 3rd locomotive has 2250HP).Suppose that task has been divided into seven sections.In view of above situation, below combination is available, and can with the orbital segment load matching: 0.75,1,1.5,1.75,2.25,2.5,3.25, this is the combination that the maximal correlation HP of marshalling arranges.Therefore, arrange about above-mentioned each accordingly relevant HP, for 0.75 setting, the 3rd locomotive is opened, and the first locomotive and the second locomotive are closed, and open for 1, the first locomotive, and the second locomotive and the 3rd locomotive are closed.In one embodiment, the stroke optimizer is selected the maximum load of requirement, and regulates the crossover that simultaneous minimization power arranges by the gear order.Therefore, if sections requires just to use locomotive 1 and locomotive 2 between 2 and 2.5 (multiply by 3000HP), locomotive 3 is in idle pulley or in standby simultaneously, and this depends on time and the restarting the time of locomotive of locomotive 3 in this sections.

In another exemplary embodiment, but trading off between discharging output and the railroad traction setting determined in execution analysis, and with the higher gear operation of maximization, wherein the discharging from exhaust gas post-treatment device is more excellent.This analysis also can will be taken into account about one in optimized above-mentioned other parameter of train operation.Can carry out this analysis to sections and/or both combinations of whole task run, task run.

Figure 13 has described sketch according to an aspect of the present invention, that be included in the element of the system that forms for optimized train dynamics.As described above and discuss like that, train load estimator 560 is provided.Stroke determiner mission time 570 also is provided.Treater 245 also is provided.As above disclosed, although relate to train, other driving engine that similar element can be used for not using in guideway vehicle is such as but not limited to off-road vehicle, boats and ships and fixed cell.The stroke that treater 245 is determined based on the train load of being determined by train load estimator 560 with by stroke determiner mission time 570 calculates train 235,236,237 is provided with the required total output amount of power mission time.Based on the output of each railroad traction, further determine the locomotive type that needs and/or the number of locomotives that needs, with realize based on train load and stroke minimum level mission time ground need to minimum total output amount.

Stroke determiner mission time 570 can be divided into task a plurality of task sections, for example sections A and sections B, as mentioned above.Then can determine individually the total output amount for each sections of task.As top further discussion, extra locomotive 255 is train 235,236, a part of 237, and provides it to be used as reserve power.When confirming to require, can incrementally use the power from reserve locomotive 255, such as but not limited to power is provided, to make train 235,236,237 be returned to the table that is on time for specific stroke sections.In this case, train 235,236,237 operations realize and/or satisfy stroke mission time.

Train load estimator 560 can be estimated train load based on the information, historical data, rule of thumb estimation and/or the table data that are included in the train composition list 480.In addition, treater 245 can determine to discharge compromise between arranging of output and railroad traction, with the higher gear operation of maximization, wherein, is optimized from the discharging of exhaust gas post-treatment device.

Figure 14 has described the sketch for the transfer function of the fuel efficiency of determining the system take diesel oil as power and discharging.This system take diesel oil as power includes but not limited to that locomotive, boats and ships, OHV and/or fixed type stand.As shown in the figure, will offer transfer function 585 (" f (x, y) ") with the relevant information of input energy 580 (such as power, used heat etc.) with about the information of last handling process 583.This information of transfer function 585 usefulness is determined optimal fuel efficient 587 and discharging output 590.

Figure 15 has described to be used for to determine to have exemplary embodiment of method of configuration of the system take diesel oil as power of at least one power generating unit take diesel oil as fuel.Shown in diagram of circuit 600, the method is included in 605 places and determines that the system take diesel oil as power is required in order to realize the minimum power of the task of regulation.At 610 places, determine the condition of service of the power generating unit take diesel oil as fuel, so that minimum power requires to be met, produce simultaneously the lower consumption of fuel of the system take diesel oil as power and/or at least one in the lower discharging.As above disclosed, the method shown in the diagram of circuit 600 can be applicable to a plurality of power generating units take diesel oil as fuel, stands such as but not limited to locomotive, boats and ships, OHV and/or fixed type.In addition, can realize this diagram of circuit 600 with the computer software programs that can reside on the computer-readable medium.

Figure 16 has described an exemplary embodiment for the closed loop system of operation guideway vehicle.As shown in the figure, this system comprises optimizer 650, conv 652, guideway vehicle 653, and according at least one output 654 of collecting specifying information (such as but not limited to speed, discharging, tractive force, horsepower and friction governor technology (for example using sand)) acquisition.Output 654 can determine that sensor 656 is parts of guideway vehicle 653 by sensor 656, and perhaps in another exemplary embodiment, sensor 656 does not rely on guideway vehicle 653.The information that will derive from first the information of stroke optimizer 650 and/or adjuster generation by conv 652 offers guideway vehicle 653.Then will be transmitted back to by the locomotive data that sensor 656 is collected optimizer 650 via closed loop communication path 657 from guideway vehicle.

Optimizer 650 is determined the character of operation of at least one factor (such as speed, fuel, discharging etc.) to be adjusted.Optimizer 650 is determined at least one in arranging of power and/or moment of torsion based on the optimal value of determining.Provide conv 652, will convert about the information of power, moment of torsion, speed, discharging, friction regulation technology (such as but not limited to using sand), setting, configuration etc. the form of the control inputs that is suitable for being applied to guideway vehicle 653 (normally locomotive) to.Particularly, this information or data transfer can be become electric signal.

As following further in detail discuss, conv 652 can with a plurality of devices in any one is mutual, such as master controller, Long-distance Control coke oven controller, distributed-power driving governor, train circuit modulator-demodulator, analog input etc.Figure 17 has described with main control unit or has controlled the closed loop system of 651 combinations.Conv for example optionally disconnects or forbids the output of master controller (or actuator) 651.(master controller 651 is used for about the realization of power, horsepower, tractive force, friction regulation technology (such as but not limited to using sand), braking (comprising at least one in dynamic brake, air brake, the hand brake etc.), propelling etc. locomotive being made order by the operator usually.Those skilled in the art will easily understand, and master controller can be used to control for the hard switching of control locomotive with based on the switch of software.In case) master controller 651 disconnections, conv 652 just replaces master controller 651 to produce control signals.Can disconnect actuator 651 by electric wire, software switch, configurable input selection process etc.Switching device 655 is illustrated as carrying out this function.More specifically, disconnect operator's control inputs of master controller 651.

Although Figure 17 discloses master controller 651, this is proprietary for locomotive.It will be apparent to those skilled in the art that in other is used, above those disclosed for example, other device can provide the function of the function that is equal to the master controller that uses in locomotive.For example, in OHV or transportation city motor bus, use accelerator pedal, and use excitation control at electrical generator.About boats and ships, can there be in check in the mode of closed loop, as to become different angles/orientation a plurality of devices of having an effect (for example propelling unit).

As mentioned above, identical technology can be used for other device, such as controlling machine vehicle controller, distributed-power driving governor, train circuit modulator-demodulator, analog input etc.Although not explanation, those skilled in the art will easily understand, conv can use similarly these devices and with locomotive be associated be connected, so that input control signal is applied to locomotive.The communication system 657 that is used for these other devices can be wireless or wired.More specifically, conv can with master controller 651 outside device (such as driving governor, modem etc.) mutual.

Figure 18 has described an exemplary embodiment for the closed loop system that operates the guideway vehicle of being combined with another input operation subsystem of guideway vehicle.For example, distributed-power driving governor 659 can receive from the input of each provenance 661 (such as but not limited to operator, train path and coke oven controller), and with the locomotive of communication to the remote location.Conv 652 can directly offer information the input (as extra input) of DP controller 659, perhaps interrupts in the input connection, and communication is arrived DP controller 659.Switch 655 is provided, how information has been offered DP controller 659 to instruct conv 652, as mentioned above.Switch 655 can be based on the switch of software and/or Wiring type switch.In addition, switch 655 needs not to be bidirectional switch.Based on the quantity of the signal of its control, switch can have a plurality of switch directions.

In another exemplary embodiment, conv can be arranged the operation of master controller, as shown in figure 23.Conv 652 has for come the automatically mechanical mechanism of mobile actuator 651 based on the electric signal that receives from optimizer 650.

Provide sensor 656 at locomotive, to collect condition of service data 654, such as speed, discharging, tractive force, horsepower etc.Then common locomotive output information by guideway vehicle autobiography sensor in 653 future 656 offers optimizer 650, thereby finishes closed loop system.

Figure 20 has described another closed loop system, but wherein, the operator is in loop.Optimizer 650 produces the required power/character of operation of optimum performance.Send information to operator 647 by man machine interface (HMI) and/or telltale 649 etc.Can come transmission information by various forms, comprise audio frequency, text or mark perhaps video demonstration on a map.In this case, operator 647 can operate master controller or pedal or any other actuator 651 and defer to optimum motivation level.

If the operator defers to plan, optimizer just shows the next one operation that needs constantly.If the operator does not defer to plan, optimizer just can recomputate/optimal planning (depending on power, speed, position, the deviation of discharging and the time length of deviation etc. from plan) again.The operator reaches again optimal planning or surpassed the degree that maybe may surpass safety rate if can't satisfy optimized plan, then in one exemplary embodiment, optimizer can be controlled vehicle, to guarantee optimized operation, announce the needs of considering optimized task scheduling, perhaps only record occurs so that analysis from now on and/or use.In such an embodiment, the operator can regain control by manual release's optimizer.

Also can under being the situation of a part of a team and/or the power operated system of a cover, power operated system use embodiment disclosed herein.Figure 21 has shown the diagram of circuit 320 of an exemplary embodiment of method of describing to have for operation the power operated system of at least one power generating unit, and wherein power operated system can be the part of a team and/or the power operated system of a cover.At 322 places, the character of operation of assessing at least one power generating unit is disclosed.At 324 places, character of operation is made comparisons with the expectation value relevant with task object.At 326 places, Adjustment operation characteristic independently is in order to satisfy task object.As disclosed herein, can carry out from main regulation with technology of closed loop.

Figure 22 has shown the diagram of circuit 660 of having described for an exemplary embodiment of the method that operates guideway vehicle with closed loop procedure.The method is included in the optimized setting that 622 places determine the locomotive marshalling.Optimized setting can comprise any setting that variable is set, such as but not limited in the discharging of motivation level, optimized moment of torsion and/or other configuration of locomotives at least one.At 664 places, convert optimized motivation level and/or moment of torsion setting to discernible incoming signal that locomotive is organized into groups.At 667 places, when having used in arranging at least one of optimized motivation level and optimized moment of torsion, determine at least one operating conditions of locomotive marshalling.At 668 places, in the control loop of closure, at least one operating conditions is sent to optimizer, to be used for from now at least one in arranging of optimization motivation level and moment of torsion.

As above disclosed, can come the method shown in the flowchart 660 with the computer software code with one or more computer software module.Therefore, for the guideway vehicle that originally may not have the ability of using method disclosed herein, can comprise by the computer access on the guideway vehicle electronic media of computer software module, so that software module can be loaded on the guideway vehicle, to realize.Electronic media do not mean that as restrictive, because such as but not limited to (by) realize installing with the internet, also can load any computer software module by electronic media transmission system (for example wireless and/or line transmission system).

Locomotive is to produce discharging based on the flat speed of dash.In fact, lower dash is flat not necessarily can to produce lower per unit output discharging (for example gm/hp-hr), and vice versa.This discharging can include but not limited to particle, exhaust and heat.Similarly, also can be based on dash flat and change from the noise level of locomotive, noise frequency level particularly.Therefore, when this paper mentions discharging, those skilled in the art will easily understand, and exemplary embodiment of the present invention also can be applicable to reduce the noise level that is produced by the system take diesel oil as power.Therefore, even openly discharge and noise in the time of this paper various, the term discharging all should be understood to also comprise noise.

When the operator requires concrete horsepower level or dash at ordinary times, the operator expects that locomotive is with certain traction power or tractive effort operation.In one exemplary embodiment, for minimum emissions output, locomotive can switch between gear/power/engine speed level, the average traction power that keeps simultaneously the operator to expect.For example, suppose that the operator requires gear to arrange 4 or 2000HP.Then, locomotive can be keeping off for 3 given periods of operation, for example one minute, and then move to gear and 5 reach certain period, then get back to gear 3 and reach certain period, thereby so that the average power that produces corresponding to gear 4.Locomotive moves to gear 5, exports less than the discharging output at gear 4 places in the discharging of this gear placement because known locomotive.During the total time that locomotive moves between gear arranges, average level remains gear 4, has therefore still realized the traction power that the operator is desired.

The time of each gear is definite by various procatarxis, such as but not limited to the discharging at each gear place, the motivation level at each gear place, and operator's sensivity.Those skilled in the art will easily understand, and when the locomotive manual operation, and/or when operation was automatically carried out, such as but not limited to when locomotive is controlled by optimizer, and between the adjustment period of low speed, embodiments of the invention were exercisable.

In another exemplary embodiment, a plurality of set-points have been used.Can determine these set-points by considering a plurality of factors (such as but not limited to gear setting, engine speed, power and engine control setting).In another exemplary embodiment, when having used a plurality of locomotives but these a plurality of locomotives can be with different gear/power setting operation the time, determine the setting of gear/power as the function of performance and/or time.When reducing discharging, the other factors that can consider in order to trade off includes but not limited to fuel efficiency and noise.Equally, if the expectation noise decrease can be considered discharging and fuel efficiency.If what improve is fuel efficiency, but then analyze like the application class.

Figure 23 has described the embodiment of the speed-time curve figure of comparison current operation and the Emission Optimization operation.Can at random minimize the velocity variations of comparing with desirable speed.For example, move to another speed (S2) if the operator was desirably in the expected time from a speed (S1), can realize this point with less deviation.

Figure 24 has described to cause the gear of the expectation that keeps constant and/or the types of modulation of horsepower.Time quantum at each gear place depends on the quantity of locomotive and weight and the characteristic thereof of train.In fact, come in conjunction with traction power/power with train inertia, to obtain the speed of expectation.For example, if train is very heavy, then the time (vice versa) between the transition of the gear in example 3 to 5 may be very large.In another example, if the quantity of the locomotive of given train is large, the time between the transition just must be less.More specifically, time-modulation and/or circulation will be depended on train and/or locomotive characteristic.

As previously discussed, discharging output can distribute based on the gear of hypothesis, but operator/railway does not need to have overall distribution.Therefore, feasible be on a period of time, on a period of time to many locomotives and/or on a period of time, one group of locomotive is strengthened gear and distribute.By being provided with emissions data, stroke optimizer described herein will be expected the setting of gear/power and make comparisons based on the discharging output of gear/power setting, and determine to satisfy the gear/power cycle of needed speed, simultaneous minimization discharging output.Optimization can be used for the generation plan clearly, and perhaps plan can be changed into so that the discharging of reinforcement, minimizing and/or meet requirements.

Figure 25 has described to be used for to determine to have the diagram of circuit 700 of an exemplary embodiment of method of configuration of the system take diesel oil as power of at least one power generating unit take diesel oil as fuel.At 702 places, diagram of circuit 700 provide the system that determines take diesel oil as power required in order to realize minimum power or the motivation level of the task of regulation.At 704 places, determine the discharging output that needs based on minimum power or motivation level.At 706 places, also disclose and used at least one other motivation level that causes lower discharging output, wherein, the power of the long and approaches the power that needs.Therefore, in operation, can use to have at least expectation motivation level of another motivation level, and/or can use and do not comprise two motivation levels expecting motivation level.In second example, as above disclosed, if the expectation motivation level is gear 4, then employed two motivation levels can comprise gear 3 and gear 5.

As disclosed, will offer stroke optimizer system based on the discharging output data of gear speed.If certain gear speed has produced the maximum discharge amount, then the stroke optimizer can work by circulating between the gear setting of the lower discharging output of generation, so that locomotive will be avoided in the operation of specific gear place, still satisfies simultaneously the speed of the gear setting of avoiding.For example, the same instance that application provides above is if affirmation keeps off 4 because discharging is exported and less than the Optimum Operation setting, still keep off the lower discharging output of 3 and 5 generations, then the stroke optimizer can circulate between gear 3 and 5, and wherein average velociity equals the speed in the realization of gear 4 places.Therefore, although provide and gear 4 speed that are associated, total discharging output is less than the discharging output in the expectation of gear 4 places.

Therefore, when with this configuration operation, although in fact can not defer to the constraint of velocity that applies based on limiting the gear restriction, can improve the total discharging output in whole tasks.More specifically, although but certain zone forced track vehicle is no more than gear 5, but the circulation that the stroke optimizer can be determined to keep off between 6 and 4 is preferred for reaching gear 5 velocity limits, export and also improved simultaneously discharging, because the discharging output that keeps off 6 and 4 combination is than better when the operation of gear 5 places, because keep off 4 or keep off 6 or both are better than gear 5.

Figure 26 shows for the system 722 that keeps specific speed when minimizing discharging output from the system take diesel oil as power with at least one power generating unit take diesel oil as fuel, noise level etc.System 722 comprises treater 725, treater 725 be used for determining the system (for example train 31) take diesel oil as power required in order to finish the minimum power of the task of regulation.Treater 725 also can determine when between two motivation levels and replace.Determine that device 727 is used for determining discharging output based on the minimum power of needs.Also comprise between motivation level, replacing to realize the motivation level controller 729 of minimum required drive.Motivation level controller 729 works to produce lower discharging output, and the overall average power that produces simultaneously approaches the minimum power that needs.

Figure 27 shows for the system 730 that keeps specific speed in the one or more outputs (for example discharging output and noise output) that minimize from the system take diesel oil as power with at least one power generating unit take diesel oil as fuel.This system comprises definite device 727, determines that device 727 is used for determining that the system take diesel oil as power is required in order to finish the motivation level of the task of regulation.Determine that device 727 also can determine discharging output based on the motivation level of needs.System also comprises discharging discriminator 731.Discharging discriminator 731 is made comparisons the discharging of other motivation level output and the discharging output based on the motivation level of needs.By between at least two other motivation levels, alternately (comparing with required motivation level, this can produce discharging output still less), based on required motivation level, reduced the discharging output of the power generating unit (for example train 31) take diesel oil as fuel, wherein, between at least two other motivation levels, alternately produce the average power level near the motivation level of needs, produced simultaneously the discharging output lower than the discharging output of the motivation level that needs.As disclosed herein, so alternately motivation level can only cause using at least one other motivation level.Therefore, although the feature that is operating as to replace, this term does not mean that it is restrictive.For this reason, system 730 can comprise for the device (not shown) that replaces and/or use at least one other motivation level between at least two motivation levels.

Although top example show between two dash are flat, in order to satisfy the flat circulation of the 3rd dash, those skilled in the art will easily understand, can be in that to manage to satisfy more than two dash of specific expectation dash every day use flat.Therefore, can comprise in circulation that three or more dash are flat, flat to realize specifically expecting water purification, when improving discharging, still to satisfy rate request.In addition, one during the dash that replaces is flat can comprise that the expectation dash is flat.Therefore, at least, flat two motivation levels that replace betwixt that can be of gentle another dash of expectation dash.

Figure 28 discloses diagram of circuit 800, and it shows the system take diesel oil as power that has at least one power generating unit take diesel oil as fuel for operation with an exemplary embodiment of the method that satisfies at least one task object.Task object can comprise considers total discharging, maximum discharging, consumption of fuel, speed, reliability, wearing and tearing, power, power, mission time, the time of advent, the time of intermediate point and/or at least one in the stopping distance.Based on the specific tasks of the system take diesel oil as power, task object can further comprise other target.For example, as above disclosed, the task object of locomotive is different from the task object of fixed type power generation system.Therefore, the type of the employed system take diesel oil as power of the method for task object process-based Figure 80 0.

At 802 places, the method for diagram of circuit 800 comprises the character of operation of the system of assessment take diesel oil as power.Character of operation can comprise at least one in the situation on the surface that discharging, speed, horsepower, friction modification, tractive force, total output output, mission time, consumption of fuel, stored energy and/or the system take diesel oil as power operate thereon.When the system take diesel oil as power for example has power generating unit take diesel oil as fuel as its main power generation system and has electronic, hydraulic pressure or other power generation system during as the hybrid system of its auxiliary power generation systems, stored energy is important.About speed, this character of operation can further segment about time dependent speed with the speed of change in location.

When using with diesel oil as the system of power in conjunction with at least one other system take diesel oil as power, character of operation can be further based on the position of this system take diesel oil as power.For example, in train, when the system that each locomotive is considered as take diesel oil as power, the locomotive marshalling can be used with train.Therefore, will there be pilot engine and remote locomotive.Those locomotives in following the position have also comprised the follow the mode consideration.Character of operation can be further based on environmental conditions, such as but not limited to temperature and/or pressure.

At 804 places, the method for diagram of circuit 800 also comprises makes comparisons character of operation and the expectation value that is used for satisfying task object.Can determine expectation value according to character of operation, the capacity of system take diesel oil as power and/or wherein at least one of at least one design characteristics of the system take diesel oil as power.About the design characteristics of the system take diesel oil as power, there are the various modules of locomotive, wherein design characteristics is different.Can determine expectation value such as, but not limited to the remote location place of remote sensing station and/or in the position that is the part of the system take diesel oil as power.

Expectation value can be based on position and/or the operating time of the system take diesel oil as power.As character of operation, at least one in the situation on the surface that expectation value further operates thereon based on discharging, speed, horsepower, friction modification, tractive force, environmental conditions (comprising at least one in the temperature and pressure), mission time, consumption of fuel, stored energy and/or the system take diesel oil as power.Can be based on being the part of the part of the system take diesel oil as power and/or marshalling or further determining expectation value in the quantity of the power generating unit take diesel oil as fuel at child marshalling level place, as above disclosed.

At 806 places, the method for Figure 28 further comprise utilize with the closed loop control system of feedback procedure operation come the Adjustment operation characteristic with (making it) corresponding to expectation value, in order to satisfy task object.Feedback procedure can comprise the feedback principle that those skilled in the art easily know.Substantially, but should not be considered as restriction, feedback procedure receives information, and makes definite based on the information that receives.Closed-loop policy allows in the method that does not have realization flow Figure 80 0 in the situation of external intervention.But, if because safety problem former thereby when needing also provides manual override.Can come the Adjustment operation characteristic based on environmental conditions.As above disclosed, the method for diagram of circuit 800 can realize in computer software code that also wherein, computer software code can reside on the computer-readable medium.

Figure 29 discloses the sketch for an example system 810 that operates the system take diesel oil as power with at least one power generating unit take diesel oil as fuel.System 810 comprises sensor 812, and sensor 812 is configured in order to determine at least one character of operation of the system take diesel oil as power.In one exemplary embodiment, provide a plurality of sensors 812 on the system take diesel oil as power a plurality of positions and/or the intrasystem a plurality of subsystems take diesel oil as power collect character of operation.Those skilled in the art also will understand, and sensor 812 can be input device.Therefore, sensor 812 can be collected character of operation or the information of the situation on the surface that operates about discharging, speed, horsepower, friction modification, tractive force, environmental conditions (comprising at least one in the temperature and pressure), mission time, consumption of fuel, stored energy and/or the system take diesel oil as power thereon.Treater 814 and sensor 812 communications.Provide with reference to generating means 816, it is configured to preferred operations characteristic for confirmation.With reference to generating means 816 and treater 814 communications.When using term " communication ", those skilled in the art will easily understand, and can and/or be conducive to the form of communication by wireless telecommunication system/device by line communication system/device.Can be the part of the system take diesel oil as power in the distant place of the system take diesel oil as power with reference to generating means 816, perhaps both (namely installing a part of 816 can be a long way off, and another part is in this locality).

Treater 814 is equipped with/programmes algorithm 818, and algorithm 818 is with the feedback procedure operation, so that character of operation and preferred operations characteristic are made comparisons, to determine the character of operation of expectation.Provide in addition the conv 820 with treater 814 and/or algorithm 818 closed loop communications, to realize the character of operation of expectation.Conv 820 can be master controller, Long-distance Control controller, distributed-power controller and/or train circuit modulator-demodulator.More specifically, when the system take diesel oil as power during as locomotive system, conv can be Long-distance Control coke oven controller, distributed power locomotives controller and train circuit modulator-demodulator.

Such as further illustrated in FIG., system 810 can comprise the second sensor 821.The second sensor is configured in order to measure at least one environmental conditions, is provided for algorithm 818 and/or treater 814 to determine the character of operation of expectation about its information.As above disclosed, the example of environmental conditions includes but not limited to temperature and pressure.

Another embodiment relates to the method for the operation of control train.The method also can be applicable to control other vehicle or other power operated system.According to this method, control train based on optimized task scheduling, typically fuel uses and/or reduction discharging output to reduce.For the calculation task plan, can carry out following steps.At first, for example from data bank or otherwise receipt routing data and train data.Route data comprise data one or more characteristics of the track that travels thereon along route are relevant with train and with along the relevant data of at least one velocity limit of route.Train data is relevant with one or more characteristics of train.In any time of train during the route running, produce ON TRAINS task scheduling.Locating to produce task scheduling based on the data that receive along first of route, and covering and extend to along route at least one sections than the route of first farther second point.Based on and no matter along all different geographic entitys of the route of this sections (about this sections, data can with) or other characteristic how, produce task scheduling, to cover whole sections.The meaning of doing like this is: (i) task scheduling has considered that the route sections is (about this route sections, data can with) all different geographic entitys or other characteristic, and (ii) no matter the specific geographic feature of which type of route or other characteristic are arranged and produce task scheduling along sections.Therefore, no matter along the known geographic feature of route sections or other route characteristic how, all produce task scheduling for this sections.

Another embodiment relates to a kind of method for the operation vehicle.The method is included in vehicle place receipt routing data and vehicle data.Route data comprises with vehicle along the relevant data of one or more characteristics of its route that travels, and vehicle data is relevant with one or more characteristics of vehicle.The method further is included in any time of vehicle during the route running, produces task scheduling at vehicle.Locating to produce task scheduling based on the data that receive along first of route, and this task scheduling covers and extends to along route at least one sections than the route of first farther second point.Based on and no matter along all different geographic entitys of the route of sections (about this sections, data can with) or other characteristic how, produce task scheduling, to cover whole sections.The method further is included in vehicle controls vehicle according to task scheduling when travelling along the route sections.Task scheduling is configured in order to reduce the discharging that the fuel of vehicle uses and/or the minimizing vehicle produces along the route sections.

After producing task scheduling, whether correct the plan of setting the tasks is at least one task object that satisfies vehicle.If determine that this task scheduling is off-square for satisfying at least one task object, the method just further comprises that renewal once was used for producing the data that receive of task scheduling.Then revise task scheduling based on the data that receive of upgrading, to satisfy this at least one task object.After revising task scheduling, the method further comprises the system that comes operational power to drive based on amended task scheduling.

Such as will be appreciated, this paper any description relevant with " stroke plan " also can be applicable to " task scheduling ", because the stroke plan is a kind of of task scheduling, i.e. stroke plan is the task scheduling of vehicle.Generally speaking, like this too for " stroke " and " task ", namely stroke is the task of particular types.

Figure 30 shows the diagram of circuit of an exemplary embodiment for the expectation parameter at task scheduling is unreachable to and/or (for example) controls the method for power operated system by the task scheduling of determining power operated system (this power operated system has at least one main power generating unit) when having surpassed the predefined limit.At 402 places, the method for diagram of circuit 400 is confirmed the expectation parameter before being included in and producing task scheduling, and wherein, this parameter can be unreachable and/or run counter to the predefined limit.(" expectation " parameter is that system and/or operator want to realize or satisfied special parameter).At 404 places, the expectation parameter is notified operator and/or the remote monitoring facility of power operated system.At 406 places, the accessible parameter that whether has surpassed the predefined limit and/or whether confirmed to approach the expectation parameter is determined.At 408 places, can produce task scheduling.Therefore, replace relating to and can be the preceding generation of task scheduling unreachable or that run counter to the parameter of the predefined limit, to overstep the extreme limit or to produce plan with the mode near the accessible parameter of unreachable parameter." approach " and mean numerically the most accessible parameter of close unreachable parameter.

Can notify operator and/or remote monitoring facility about whether surpassing the predefined limit and/or confirm to approach the accessible parameter of expecting parameter.At 410 places, allow operator and/or remote monitoring facility to remove the predefined limit, so that task scheduling is feasible and/or can work, and/or revises at least one other parameter and make task scheduling feasible and/or can work.When notifying operator and/or remote monitoring facility, but suggestion operations person and/or remote monitoring facility, and it is inevitable surpassing the predefined limit in certain zone of task.But suggestion operations person and at least one parameter of remote monitoring facility are in order to make amendment to produce task scheduling.

At 412 places, can surpass the predefined limit and/or use and realized the task scheduling that produces in the situation near the accessible parameter of expectation parameter.At 414 places, when can finishing the work when plan near the re-set target of task scheduling, the accessible parameter that whether surpasses the predefined limit and/or whether confirm to approach the expectation parameter is determined.

At 416 places, also can about the expectation parameter whether have in hard limiting and the soft limiting at least one make definite.At 418 places, when the expectation parameter had soft limiting, this can cause temporarily surpassing the predefined limit.At 420 places, when the expectation parameter had soft limiting, the method further comprises determined temporary transient time period and/or the condition that surpasses the expectation parameter.In addition, at 421 places, the method is included in the accessible parameter of determining to approach the expectation parameter in the situation that is no more than hard limiting." hard limiting " refers at least the limit that can not be exceeded according to one or more rules or operation constraint." soft limiting " refers to the limit that will can not be exceeded except possibility under some situation or the condition.

The expectation parameter can include but not limited at least one characteristic that is associated with at least one element of power operated system and the parameter that is associated with being carried out by task scheduling of task.The expectation parameter can include but not limited to that the end gear of sections of starting gear setting, task and/or task of sections of desired speed setting, task and/or task at operating time, the point of the predefine in task place of sections of end speed, task and/or task of sections of starting speed, task and/or task of the sections of the speed governing limit, braking rate limit, task and/or task arranges, and dynamic brake.

(mean illustrative and nonrestrictive) in an example, the expectation parameter is the operating time of task.The affirmation task operating time may be unreachable to, and for example, the terminal point of being engaged in too far can't be reached home in the velocity limit of appointment because power operated system leaves one's post.What possibility was feasible is to realize the task operating time by the velocity limit that surpasses appointment, but this will run counter to the predefined limit, i.e. velocity limit.Then determine whether that (i) confirms to approach the accessible parameter of expectation parameter, for example, arrive the task terminal point in the time task operating time, that need not exceed velocity limit of the most close expectation, perhaps whether (ii) surpasses the velocity limit of appointment.Then determine to produce task scheduling based on this.

Can be in the situation that does not have the operator to interfere realize carrying out the step confirming task scheduling, confirm the expectation parameter and be confirmed whether to surpass the predefined limit and/or confirm to approach the accessible parameter of expectation parameter (or in those steps any two) with closed loop control.

Figure 31 is the diagram of circuit of another embodiment for the expectation parameter at task scheduling is unreachable to and/or the task scheduling of (for example) power operated system by determining to have at least one main power generating unit is controlled the method for power operated system when having surpassed the predefined limit.At 424 places, the method for diagram of circuit 422 comprises the generation task scheduling.At 426 places, confirm unreachable in the task scheduling and/or surpassed the expectation parameter of the predefined limit.At 428 places, determine whether temporarily to surpass the predefined limit, confirm to approach the accessible parameter of expectation parameter and/or alert operator and/or remote monitoring facility about the feedback of the series of measures that will take.

At 430 places, can be based on whether temporarily revising task scheduling above the accessible parameter of the predefined limit and/or the approaching expectation of affirmation parameter.At 432 places, can be to expecting whether parameter has hard limiting and/or soft limiting is made definite.At 434 places, when having soft limiting, the expectation parameter can realize temporarily surpassing the predefined limit.In addition, at 436 places, when the expectation parameter has soft limiting, can make definite to temporary transient time period and/or the condition that surpasses the expectation parameter.At 438 places, when having hard limiting, can be about making definite in the accessible parameter that is no more than approaching expectation parameter in the situation of hard limiting.At 439 places, when the expectation parameter in the task scheduling is unreachable to and/or has surpassed the predefined limit, can confirm the expectation of second in task scheduling parameter (and/or function of the member of the power operated system that will regulate), and/or the function of the member of the expectation parameter of second in the adjusting task scheduling and/or power operated system, to realize task scheduling.

In another embodiment, alert operator is unreachable to and/or has surpassed the existence of the parameter of the predefined limit.Then whether the operator can make and allow system in following period of time or in the certain space zone and/or determining of temporarily overstepping the extreme limit in the mission duration.Alternative, the operator can determine to revise and make feasible and/or exercisable another parameter of task.For example, in the situation of the train that is dragged by the marshalling of the locomotive take diesel oil as power, if predetermined stroke was finished, may cannot satisfy the gear speed of variation less than the per hour constraint of 1000 gears in 2 hours.In this case, but alert operator, and and the operator can determine that the constraint of the gear speed that will change relax to another gear, such as for example 1500 gears per hour.This method is equal to the parameter of confirming to approach the expectation parameter.In another example, the operator can change over travel time such time: it will allow to satisfy the constraint of the gear speed that changes.This equates and change another parameter, so that ancestral task becomes is feasible and/or exercisable.In another example, the operator can allow to surpass gear a small amount of time of rate constraint, perhaps allows to surpass in the particular segment of track the gear rate constraint.

In above disclosed all examples, it will be apparent to those skilled in the art that can be with realizing these embodiment with the computer software code that treater moves and be configured to reside on the computer-readable medium.

For example, in another exemplary embodiment, shown in figure 32, algorithm shown in computer-readable instruction and/or the diagram of circuit 440 is provided, when being carried out by treater, computer-readable instruction and/or algorithm impel the expectation parameter that is unreachable to and/or has surpassed the predefined limit in the treater affirmation task scheduling.Then, at 442 places, the software alert operator is above disclosed situation for example.At 444 places, receive feedback command from operator and/or remote monitoring facility.At 446 places, based on operator's feedback, the treater that works under the control of software code receives and/or replans task scheduling.

It will be apparent to those skilled in the art that no matter be original or the version of replanning, the task scheduling of realizing all can produce the optimized task scheduling not as the script expectation when realizing exemplary embodiment of the present invention.But the task scheduling that produces is can work/attainable task scheduling, and the task scheduling of expectation may can not work for above-mentioned reasons originally.

Figure 33 shows the diagram of circuit for an embodiment of the method for controlling power operated system by optimization in the scope of at least one operation mode of the power operated system that task provides in the works.The method can be used to for example power operated system be remained on more than the minimum velocity, with for fear of stall.The method also can be used to reduce power operated system remains in free time or neutral speed governing setting as the part of OPTIMAL TASK plan time quantum, think that to reduce the operator power operated system is in the possibility along route " floating " (for example, be arranged to travel in the vehicle of neutral can cause that the operator does not control the sensation of vehicle fully).

As above disclosed, optimization can comprise maximization or minimize at least one operation mode, perhaps between certain situation between them.Using the purpose of term " optimization " is not the scope of restricted mode of operation, but opposite, affirmation can come settings based on a plurality of reason/factors.At 1402 places, the method for diagram of circuit 1400 comprises determines that power operated system enters the time quantum of the scope of at least one operation mode (" entry range " meaning be enter operation mode or be in certain scope or the limit of operation mode).This carries out before the beginning task and/or when executing the task.When executing the task, at 1403 places, the time quantum that power operated system is entered the scope of this at least one operation mode is notified operator and/or the remote monitoring facility of power operated system.Alternatively or in addition, again at 1403 places, before the beginning task, the time quantum that power operated system will be entered the scope of this at least one operation mode is notified operator and/or the remote monitoring facility of power operated system.The remote monitoring facility can be scheduler, station etc.Substantially, the remote monitoring facility is the position away from power operated system.Notify operator and/or remote monitoring facility further to comprise to notify the operating parameter of operator and/or the power-actuated system of remote monitoring facility regulation moving, to approach the operation setting of expectation.

Determine that the time quantum of power operated system in the scope of operation mode further comprises the institute's time spent amount in low driving dynamic mode and/or low brake power pattern of determining.(can consider any other operation mode).At 1404 places, the operating parameter of power operated system may be adjusted in order to approach the desired operation setting.Approach the desired operation setting and can comprise several different methods.For example, the setting of optionally connected recent prestige operation setting.In another example, a plurality of operation setting can be switched between the situation near the aviation value of desired operation setting.

Figure 34 shows the diagram of circuit for another embodiment of the method for controlling power operated system by optimization in the scope of at least one operation mode of the power operated system that task provides in the works.At 1408 places, the method for diagram of circuit 1406 comprises that the operating parameter with power operated system is adjusted to and approaches the desired operation setting.Operating parameter can include but not limited to specific consumption of fuel, specific fuel consumption and horsepower.The Adjustment operation parameter can include but not limited to specific consumption of fuel is adjusted in order to minimize the low power operation pattern of power operated system.The Adjustment operation parameter can further comprise operating parameter is adjusted in order to approach the expectation dynamic mode.As arranging with respect to above-mentioned desired operation, for approaching the expectation dynamic mode, several different methods is feasible.In addition, when the Adjustment operation parameter can be included in the exploration operation pattern, operating parameter automatically and/or independently is adjusted to different values.

At 1410 places, the method for Figure 34 can further be included in before the beginning task and/or determine that when executing the task power operated system enters the time quantum of the scope of operation mode.At 1412 places, power operated system is entered the time quantum of scope of operation mode and/or power operated system will enter the scope of this at least one operation mode before the beginning task time quantum and notify operator and/or remote monitoring facility to power operated system when executing the task.Regulate that an operating parameter can further comprise automatically or Adjustment operation parameter independently, and produce task scheduling based on the operating parameter through regulating.

Figure 35 shows the diagram of circuit 1414 for the method for the plan of setting the tasks based on maximum speed limit and/or minimum velocity threshold value.At 1418 places, the method for diagram of circuit 1414 comprises determines the minimum velocity threshold value.Under the rule of relevant transport systems or otherwise, may provide maximum speed limit.At 1420 places, produce task scheduling with the minimum velocity threshold value.Use the lower velocity limit that changes with speed limit and in the part of whole task and/or task, further determine the minimum velocity threshold value for the lower velocity limit of constant value.In addition, determine that the minimum velocity threshold value can mean to have the minimum velocity threshold value that provides.

Figure 36 shows the diagram of circuit 1422 for the method for at least one plan of setting the tasks of based target reference velocity and/or target reference driving force.At 1424 places, the method for diagram of circuit 1422 comprises at least one in a section that uses for whole task and task and the target reference velocity confirmed and at least one in the target reference driving force produce task scheduling.At 1428 places, defer to and/or roughly defer to target reference velocity and/or target reference driving force.

Figure 37 shows the diagram of circuit 1430 for the method for at least one plan of setting the tasks of based target reference velocity and target reference driving force.At 1432 places, the method for diagram of circuit 1430 comprises determines reference velocity profile and/or target reference driving force.At 1433 places, use for whole task and/or task one section and target reference velocity and/or the target reference driving force determined produce task scheduling.At 1434 places, the system that operational power drives provides the power near reference target speed.At 1436 places, set up target velocity and/or target power.When system that operational power drives, defer to target velocity and/or target power, in order to the power near reference target speed is provided.

Figure 38 shows the diagram of circuit 1444 be used to the method for the scope of the operation mode that minimizes the power operated system that is provided with task scheduling.At 1446 places, the method for diagram of circuit 1444 comprises the ancestral task plan that has the operating time section in the scope that is based upon at least one operation mode.In an example, operation mode is free time or neutral gear speed governing setting.At 1448 places, confirm the scope of the operation mode in the task scheduling.At 1450 places, task scheduling is modified as so that the power setting outside the scope that is provided at least one operation mode during the period in the selected scope of at least one operation mode in the power operation period.Shown in example in, the power setting can be positive (propelling) or negative (braking) speed governing setting with respect to a side of free time/neutral gear.Task scheduling also is modified as so that the greater part that makes power outside the scope of this at least one operation mode be arranged on task scheduling is averaged, and wherein, at 1452 places, the energy of the generation of the greater part of task scheduling is near the ancestral task plan.The energy that produces also can be considered total output.Can determine to confirm the scope of operation mode by considering time quantum that power operated system enters the scope of operation mode.

Also can be with realizing disclosed embodiment among Figure 33 to 38 with the computer software code that treater moves and be configured to reside on the computer-readable medium.

Figure 39-43 relates to the method for controlling power operated system for the coupling power setting that is independent of power operated system.If power operated system is train, for example, train can comprise the locomotive marshalling, and a plurality of not by power operated rail carriages.Locomotive is connected to each other by (at least near locomotive) by multiple-unit (MU) cable, and typically comes co-operate by single power commands (in its input pilot engine, then being delivered to all locomotives of following).Can set up task scheduling, so that with traditional speed governing or motivation level operation, keep off 1 to 8 discrete power ranks between the gear 8 such as but not limited to scope.But, in the method shown in Figure 39-42, if controller is not limited to only defer to traditional coupling power level, then can finish optimized task.These power commands of each locomotive horizontal decoupling that can be coupled with their tradition.Can use several different methods comes and the motivation level decoupling.Therefore, although the following discloses several exemplary embodiments, these methods should not be considered as restrictive.

When having two or more power generating units (such as but not limited to the pilot engine in the train and a plurality of locomotive of following), a kind of method is to allow guiding and follow the gear that the gear order differs some quantity, such as but not limited to a gear.Figure 39 shows guiding gear 2450 and follows the graphics of an exemplary embodiment of the difference between the gear 2452.The first area 2454 of the normal running that represents power operated system is disclosed.Second area 2456 is illustrated in the operation under one embodiment of the present of invention.If need more power and current guiding gear and to follow gear identical, guiding gear or follow gear and can increase given amount then, such as but not limited to increasing a gear, then another gear increases according to subsequently request, in order to more power are arranged.Similarly, for the needs situation of power still less, can use opposite logic.

The graphics that shows be used to another exemplary embodiment that provides decoupling power to arrange is provided Figure 40.As shown in the figure, can for example develop power setting operation process (and/or mapping) 2458 in 2 dimension spaces.When the exploitation mapping, comprised some constraint.For example, although be not considered as restrictively, the power between fuel that can be by minimizing each expectation motivation level arranges with, the discharging output of each expectation motivation level, gear changes, departs from from boot order to the highest gear of following the gear order etc. and produces mapping.For continuous increase and the power situation that reduces, this mapping can be different extraly, and can be with operating parameter-such as but not limited to current power setting, present speed etc.-change.In addition, the gear operation planning can change with the following power demand of expectation.

The graphics that shows be used to another exemplary embodiment that provides decoupling power to arrange is provided Figure 41.As shown in the figure, can according to various restrictions (such as but not limited to the fuel that minimizes the expectation motivation level use, the discharging output of expectation motivation level, the gear power between arranging changes, depart from from guiding gear order (lead not command) to the highest gear of following the gear order, the highest gear skew, change minimum time that power arranges and the transient state response of expectation) adopt all gears to make up 2460.This mapping also can be with operating parameter, task scheduling and former historical variation the in the footpath of being in the way.

When marshalling power management method was used distributed-power (DP), disclosed exemplary embodiment can be used other axis-of-freedom among Figure 39 to Figure 41.DP marshalling order gear can be independent of guiding and follow locomotive order and various constraint (as above disclosed), can be used for load balance and considers with other train operation.

In addition, be connected in the situation on the pilot engine by independently MU cable or some other communication forms (such as but not limited to the communication of for example using the frequency of radio of using with the distributed-power unit) for the locomotive of following in given marshalling wherein, obtain other axis-of-freedom, and adopt similar method.

Figure 42 shows the diagram of circuit 2400 be used to the method for controlling power operated system, and wherein the speed governing order of power operated system and predefined speed governing arrange decoupling.At 2402 places, the method for diagram of circuit 2400 comprises to be confirmed in order to carry out at least one constraint of minimized at least one characteristic and/or power operation plan.At 2404 places, develop the power operation plan in response to a characteristic and/or a constraint.At 2406 places, determine at least one power setting, it is in response to the power operation plan.At 2408 places, can be for determining a plurality of speed governing settings in response to all parts of task scheduling or a plurality of speed governing settings of sections.As above disclosed, characteristic can include but not limited to the fuel burn rate of maximum power setting, minimum power setting, expectation motivation level, the maximum variation that power arranges, the minimum time that changes, the transient state response of expectation etc. between the first power setting and the setting of the second power.

Figure 43 shows the diagram of circuit be used to another embodiment of the method for controlling power operated system, and wherein the speed governing order of power operated system and predefined speed governing arrange decoupling.At 2412 places, the method for diagram of circuit 2410 comprises that exploitation is independent of the power operation plan that coupling power arranges.At 2414 places, determine the power setting in response to the power operation plan.At 2416 places, the method further comprises characteristic, parameter and/or a constraint confirming the power operation plan.When the power operation plan was static state, speed governing or power setting can change in response to the power setting that changes, and wherein, variation can comprise increase and/or reduce the speed governing setting.As above disclosed about Figure 42, at 2418 places, when exploitation power operation plan, can apply power restriction is set.At 2420 places, restriction and/or constraint can be used to the load of the power-actuated system of balanced dynamic and/or the maneuvering characteristics of power operated system.When power operated system was Orbital Transport Systems, rail transportation system wherein, at 2422 places, was set up exploitation power operation plan and/or definite power setting for the distributed-power pattern with the operation of distributed-power pattern.

Method shown in Figure 42 and Figure 43 can be applicable to the train of distributed-power pattern operation and is configured to those of train circuit.About the train circuit, the method can be applicable to wired train circuit and wireless train circuit.As above disclosed about Figure 39 to Figure 40, when operating with the distributed-power pattern, for distributed-power gear provides the 4th axle, thereby produce more one degree of freedom.About auto mat, can come the load of the power-actuated system of balanced dynamic and/or control the maneuvering characteristics of power operated system with constraint.In addition, when in automatic or autonomous lower time of control, guiding (or first) locomotive can operate with similar speed control, and perhaps more specifically, pilot engine can arrange free operant with the speed governing that decoupling is set with the speed governing that sets in advance.But the rail locomotive still fixedly speed governing setting of Application standard operates.Therefore, the speed governing setting of second unit is in response to the speed governing setting of pilot engine.But the speed governing setting of the second locomotive also can be arranged to be independent of the first locomotive.

In one exemplary embodiment, operate such as but not limited to the independent part of many locomotives as marshalling and/or train, have connection power at connection junction surface or attaching parts place.Also there are these power in the place that is connected on the rail carriages at locomotive.When definite speed governing in response to task arranges, can give the consideration of selecting these settings to the connection power that expectation applies.

As other method described herein, also can be with realizing those disclosed and their any modification among Figure 42 and Figure 43 with the computer software code that treater moves and be configured to reside on the computer-readable medium.In addition, although illustrate the distributed-power operation with train,, distributed-power also can be applicable to the group of other power operated system.

Although this paper is described exemplary embodiment of the present invention, it will be understood by those skilled in the art that and can carry out various variations, omission and/or increase, and equivalent can replace their element, and without departing from the spirit and scope of the present invention.In addition, can make many modifications, so that particular condition or material are suitable for instruction of the present invention, and not depart from scope of the present invention.Therefore, be intended to the invention is not restricted to be disclosed as the specific embodiment of the optimal mode of conceiving in order to carry out the present invention, but the present invention will comprise all embodiment in the scope that drops on appending claims.In addition, unless stated otherwise, any use of first, second grade of term does not represent any order or importance, but opposite, first, second grade of term is used for making element to be distinguished from each other.

Claims (19)

1. method that is used for controlling power operated system, described method comprises:

Determine to enter the time quantum of the scope of at least one operation mode in power operated system before the beginning task and/or when carrying out described task; And

The time quantum that described power operated system is entered the described scope of described at least one operation mode and will enter at least a situation in the described scope of described at least one operation mode when carrying out described task before the described task of beginning is notified the operator of described power operated system and at least one in the remote monitoring facility.

2. method according to claim 1, it is characterized in that, determine that the described time quantum of described power operated system in the described scope of described at least one operation mode comprises the time quantum of determining at least one in driving dynamic mode and brake power pattern of flower.

3. method according to claim 1 is characterized in that, described method further comprises at least one operating parameter of regulating described power operated system, to approach the operation setting of expectation; And operate described power operated system based on the operating parameter through regulating at least in part.

4. method according to claim 3, it is characterized in that, notify in described operator and the described remote monitoring facility described at least one further comprise notify in described operator and the described remote monitoring facility described at least one regulate described at least one operating parameter of described power operated system, to approach the operation setting of described expectation.

5. method that is used for controlling power operated system, described method comprises:

At least one operating parameter of the power-actuated system of regulation moving is to approach the operation setting of expectation, in order to the scope of at least one operation mode that provides in the task scheduling of described power operated system is provided; And

Operate described power operated system based on the operating parameter through regulating at least in part.

6. method according to claim 5 is characterized in that, described at least one operating parameter comprises at least one in specific consumption of fuel, specific fuel consumption and the horsepower.

7. method according to claim 5 is characterized in that, regulates described at least one operating parameter and comprises that the fuel metering rate of consumption is to minimize the low power operation pattern of described power operated system.

8. method according to claim 5, it is characterized in that, regulate described at least one operating parameter and further comprise when detecting described at least one operation mode, described at least one operating parameter is adjusted to automatically the higher value of described at least one operating parameter.

9. method according to claim 5 is characterized in that, regulates described at least one operating parameter and further comprises described at least one operating parameter of automatic adjusting, and produce or replan described task scheduling based on the operating parameter through regulating.

10. method that is used for controlling power operated system, described method comprises:

Determine the minimum velocity threshold value;

Produce task scheduling based on described minimum velocity threshold value and maximum speed limit; And

Control described power operated system based on described task scheduling.

11. method according to claim 10, it is characterized in that, determine that the minimum velocity threshold value further comprises at least one that comprises among the lower person: the lower velocity limit that changes with speed limit, and/or run through in the part of task and task at least one be the lower velocity limit of constant value.

12. a method that is used for controlling power operated system, described method comprises:

Determine at least one in reference target speed and the target reference driving force;

Use at least one the determined described target reference velocity in the part of whole task and described task and at least one in the described target reference driving force and produce task scheduling; And

The system that operational power drives is to provide the power near described reference target speed.

13. method according to claim 12, it is characterized in that, described method further comprises at least one that set up in target velocity and the target power, wherein, operate described power operated system and further comprise at least one that defer in described target velocity and the target power, so that the power near described reference target speed to be provided.

14. one kind is used for the method that control has the power operated system of the first power generating unit and the second power generating unit, described method comprises:

Exploitation is independent of the power operation plan that the coupling power between described the first power generating unit and described the second power generating unit arranges;

Determine the power setting in response to described power operation plan; And

Operate described the first power generating unit and/or described the second power generating unit based on described power setting.

15. method according to claim 14, it is characterized in that, described method further comprises the characteristic of confirming described power operation plan, parameter or intrafascicular approximately at least one, wherein, developing described power operation plan further comprises in response to described characteristic, described parameter or described intrafascicular approximately at least one and develops described power operation plan.

16. method according to claim 15, it is characterized in that, described characteristic comprises at least one among the lower person: the minimum time that the maximum during maximum power setting, minimum power setting, fuel burn rate, power arrange changes, changes between the first power setting and the setting of the second power, the perhaps transient state response of expectation.

17. method according to claim 14, it is characterized in that, described method comprises that further based at least one power restriction being set develops described power operation plan, wherein, restriction is set is among the lower person at least one to described at least one power: the current operation parameter, following power demand, the power commands in past is historical, the minimized fuel that the power of expectation arranges uses, the discharging output that the power of expectation arranges, the variation of the power between at least two power arrange, at least the maximum power between described the first power generating unit and described at least the second power generating unit arranges deviation, maximum power arranges skew, in order to change minimum time that power arranges or the transient state response of expectation.

18. method according to claim 14, it is characterized in that, determining that described power arranges further is included as described at least the first power generating unit and sets up the power setting, and is that described at least the second power generating unit is set up in response to the power setting of described at least the first power generating unit and the power setting of described power operation plan.

19. method according to claim 14 is characterized in that, determines that described power arranges further to comprise described power setting power commands, described the second power generating unit of determining to be independent of described the first power generating unit.

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