CN107585149B - Tramcar hydraulic braking electronic control unit, braking anti-sliding control module and braking anti-skid control method - Google Patents
Tramcar hydraulic braking electronic control unit, braking anti-sliding control module and braking anti-skid control method Download PDFInfo
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Abstract
The present invention discloses a kind of tramcar hydraulic braking electronic control unit, braking anti-sliding control module and braking anti-skid control method, passes through and obtains train load M；According to vehicle braking level, deceleration target value a is obtainedTarget-；Calculate brake force target value FTargetWith calculating brake-cylinder pressure target value PTarget, obtain brake-cylinder pressure value of feedback PFeedback, and calculate pressure target error amount Δ P；According to the pressure target error amount Δ P, the valve PWM target control signal of control hydraulic valve is obtained；Obtain current shaft speed signal VAxis, and calculate anti-skid factor Q；It according to the anti-skid factor Q and the valve PWM target control signal, obtains valve PWM and finally controls signal, and then hydraulic valve is driven to adjust brake-cylinder pressure, carry out braking and anti-sliding control.It is an advantage of the invention that realizing accurate braking and anti-slip regulation by the way that control for brake and anti-sliding control is integrated on one module, and by setting anti-skid factor Q.
Description
Technical field
The present invention relates to urban rail braking technology fields, specifically, are related to a kind of tramcar hydraulic braking electronic control
Device, braking anti-sliding control module and braking anti-skid control method.
Background technique
Municipal rail train braking system generally uses Pneumatic brake systems, including air source apparatus and anti-skidding control device.Wind regime
Device is used to be the wind devices air feed such as empty spring, and brake electronic control device passes through the signal for acquiring sky spring pressure sensor, meter
Load is calculated, and carries out brake-force control accordingly to control Air inflating and exhausting valve, guarantees that the braking deceleration under different loads is consistent.It is anti-
Sliding control device includes anti-skidding exhaust valve, velocity sensor etc., and brake electronic control device is by controlling the dynamic of anti-skidding exhaust valve
Make to prevent wheel flat to adjust brake-cylinder pressure and make full use of adhesion.Brake electronic control device is configured with braking simultaneously
Control module and anti-sliding control module, the two are mutually indepedent in hardware design and software function.
For municipal rail train since installation space is abundant, size and configuration to braking system product do not have excessive limitation,
Brake electronic control device generally uses 19 inches wide of 3U standard PC case.
Tramcar mostly uses low-floor to design, and floor height to the top of rail is generally 250mm~350mm, due to
Vehicle bottom space is limited, and existing tramcar is widely used brake fluid system, eliminates air source apparatus and anti-skidding air draft
Valve, and empty spring is substituted by steel spring or India-rubber spring, but still need to retain according to train load regulating brake force and anti-skidding function.Rail
The brake electronic control device of electric car requires to be mounted in top plate, since space is limited in top plate, it is desirable that brake electronic control dress
Set that size is small, the brake electronic control device and control method of urban rail have been unable to meet the requirement of low-floor tramcar.
Existing tramcar brake fluid system, due to eliminating anti-skidding exhaust valve, the anti-skidding exhaust valve of traditional control
Control method do not adapted to the requirement of brake fluid system.Meanwhile for using two kinds of liquid of proportioning valve or high-speed switch valve
Braking system is pressed, new different control methods need to be designed, antiskid function is realized by regulating brake force, is otherwise easily caused
Control logic is chaotic even to be caused to wipe wheel.
Summary of the invention
The object of the present invention is to provide a kind of tramcar hydraulic braking electronic control unit, braking anti-sliding control module and
Anti-skid control method is braked, by integrating on one module, realizing accurate braking and preventing by control for brake and anti-sliding control
It is sliding to adjust.
The technical scheme is that a kind of tramcar hydraulic braking anti-skid control method, comprises the following methods:
Obtain train load M；According to vehicle braking level, deceleration target value a is obtainedTarget-；Calculate brake force target value
FTarget, FTarget=M*aTarget-；Calculate brake-cylinder pressure target value PTarget,Wherein SEffectivelyTo brake the cylinder piston significant surface
Product；Obtain brake-cylinder pressure value of feedback PFeedback, and calculate pressure target error amount Δ P, Δ P=PTarget-PFeedback；According to the pressure
Target error value Δ P obtains the valve PWM target control signal of control hydraulic valve；Obtain current shaft speed signal VAxis, and calculate anti-
Sliding coefficient Q, Q value range are 0.0~1.0；According to the anti-skid factor Q and the valve PWM target control signal, valve is obtained
PWM finally controls signal, and then hydraulic valve is driven to adjust brake-cylinder pressure, carries out braking and anti-sliding control.
Preferably, when the calculating anti-skid factor Q specifically includes the following steps:
Obtain current shaft speed signal VAxis；Calculate current vehicle speed signal VVehicle；Calculate current axis speed difference Δ V, Δ V=VAxis-
VVehicle；Calculate current axis deceleration Δ aCurrently-, Δ aCurrently-=(VAxis-VBefore axis)/Δ t, wherein Δ t is time interval, VBefore axisWhen being previous
Carve shaft speed signal；Judge current axis speed difference Δ V whether be more than setting speed difference threshold value, if being more than, according to sliding depth
Degree obtains anti-skid factor Q；If not exceeded, then further judging current axis deceleration Δ aCurrently-It whether is more than deceleration threshold；If
It is more than that then basis slides depth and obtains anti-skid factor Q；If not exceeded, anti-skid factor Q is then set as 1.0.
Preferably, according to the current shaft speed signal V of the multichannel of acquisitionAxisIn maximum value and setting theoretical speed signal
VIt is theoreticalIt is compared, takes the larger value in the two as current vehicle speed signal VVehicle。
Preferably, in the acquisition train load M, the folder between car body and bogie is measured by angular transducer
Angle, is converted into the vertical compression amount of steel spring or India-rubber spring, and then calculates train load M；Each bogie two sides are respectively provided with one
To angular transducer.
Preferably, in the acquisition train load M, it need to judge the whether normal work of the angular transducer of this bogie two sides
Make, specific judgment method are as follows:
If the angular transducer of this bogie two sides is normal, load is obtained by the angular transducer of this bogie two sides
Signal；
If the angular transducer of this bogie only side is normal, carried by the angular transducer of bogie fault-free side
Lotus signal；
If the equal failure of the angular transducer of this bogie two sides is carried by the angular transducer of adjacent bogie two sides
Lotus signal；
If the equal failure of angular transducer or adjacent bogie non-angular of this bogie two sides and adjacent bogie two sides
Sensor then exports preset load signal.
Preferably, the hydraulic valve is proportioning valve, when the acquisition valve PWM finally controls signal, by the anti-skidding system
Number Q and the valve PWM target control signal carry out logical AND processing, and the valve PWM for obtaining proportioning valve finally controls signal.
Preferably, the hydraulic valve is high-speed switch valve, including prefill valve and tapping valve, the acquisition valve PWM be final
When controlling signal, according to the current state of vehicle, by the valve PWM target control signal of the anti-skid factor Q and the prefill valve,
The valve PWM target control signal of the tapping valve carries out logical AND processing respectively, and the valve PWM for obtaining prefill valve finally controls signal
Or the valve PWM of tapping valve finally controls signal, and the valve PWM of the prefill valve is finally controlled to the valve of signal and the tapping valve
PWM finally controls signal and carries out logic or processing, obtains valve PWM and finally controls signal.
Preferably, the high-speed switch valve includes prefill valve and tapping valve, and high-speed switch valve adjusts brake-cylinder pressure
The course of work are as follows:
If vehicle is in recovery state, it is anti-that the valve PWM of prefill valve finally controls signal=valve PWM target control signal *
Sliding coefficient Q；
It is 0 that the valve PWM of tapping valve, which finally controls signal,；
If vehicle is in hold mode, it is 0 that the valve PWM of prefill valve, which finally controls signal, and the valve PWM of tapping valve is final
Control
Signal is 0；
If vehicle is in sliding state, the valve PWM of tapping valve finally controls signal=valve PWM target control signal *
(1.0- is anti-
Sliding coefficient Q)；It is 0 that the valve PWM of prefill valve, which finally controls signal,；
If vehicle is in normal brake application state, the valve PWM of prefill valve finally controls signal=valve PWM target control letter
Number；It is 0 that the valve PWM of tapping valve, which finally controls signal,.
A kind of braking anti-sliding control module, for braking anti-skid control method described above, the braking anti-sliding control mould
Block includes: simulated measurement input circuit, frequency input circuit, valve-driving circuit, the first cpu control circuit and the first CAN interface electricity
Road；Simulated measurement input circuit, frequency input circuit, valve-driving circuit, the first CAN interface circuit with the first cpu control circuit
It is electrically connected, the first cpu control circuit and the first CAN interface circuit are electrically connected；The simulated measurement input circuit is for obtaining
Train load M and brake-cylinder pressure value of feedback PFeedback；The frequency input circuit is for obtaining current shaft speed signal VAxisWith it is previous
Moment shaft speed signal VBefore axis；First cpu control circuit is for receiving and processing the train load M, the checking cylinder pressure
Force feedback value PFeedback, the current shaft speed signal VAxisWith the previous moment shaft speed signal VBefore axis, and obtain valve PWM and finally control
Signal processed；The valve-driving circuit is used to finally control signal control liquid valve adjustment brake-cylinder pressure according to the valve PWM, carries out
Brake anti-sliding control.
A kind of tramcar hydraulic braking electronic control unit, the electronic control unit include: that braking described above is anti-
Sliding control module, On-off signal output module, failure logging and human-machine interface module, network communication module, power module and
Backboard, the braking anti-sliding control module, the On-off signal output module, the failure logging and human-machine interface module,
The network communication module carries out CAN communication by the backboard.
The present invention having the beneficial effect that compared with prior art
1) present invention uses a kind of braking anti-sliding control module, and control for brake and anti-sliding control are integrated in a module
On, control for brake and anti-sliding control are controlled by one group of valve output channel, i.e., finally control signal in acquisition valve PWM
It is exported afterwards by valve-driving circuit and then hydraulic valve is driven to adjust brake-cylinder pressure, carry out braking and anti-sliding control, reduce costs,
Reduce volume；
2) braking anti-sliding control module of the invention, according to the difference of brake fluid system and municipal rail train braking system,
For the hydraulic pressure unit of proportioning valve and two kinds of high-speed switch valve different control objects, and while regulation, in conjunction with checking cylinder pressure
Force feedback value PFeedback, can both guarantee that brake-cylinder pressure was adjusted automatically with the variation of train load, it is also ensured that once
It is slided, brake force can be reduced rapidly, restored adhesion, the repertoire demand of braking system can be fully achieved；
3) braking anti-skid control method of the invention, is set with anti-skid factor Q, is subtracted according to current axis speed difference and current axis
Speed obtains the coefficient, and finally controls signal by anti-skid factor Q guidance braking anti-sliding control module delivery valve PWM, realizes
Accurate braking and anti-slip regulation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of brake electronic control device of the present invention；
Fig. 2 is braking anti-sliding control modular structure schematic diagram；
Fig. 3 is braking anti-sliding control flow chart；
Fig. 4 is the acquisition flow chart of anti-skid factor Q；
Fig. 5 is that proportioning valve brakes anti-sliding control schematic diagram；
Fig. 6 is that high-speed switch valve brakes anti-sliding control schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
Referring to Fig. 1, the present invention discloses a kind of tramcar hydraulic braking electronic control unit, which includes braking
Anti-sliding control module, On-off signal output module, failure logging and human-machine interface module, network communication module, power module
And backboard.Power module provides electric energy for remaining above-mentioned each module, remaining above-mentioned each module is led to by the CAN bus of backboard
News, to realize safety arrestment, emergency braking, service braking and keep the braking functions such as braking.
Compared with the municipal rail train braking system of the prior art, air source apparatus and anti-skidding exhaust valve are eliminated, is no longer passed through
Relatively independent anti-skid device carries out anti-sliding control, using hydraulic braking electronic control unit, by control for brake and anti-sliding control
It is integrated in a module, that is, is integrated in braking anti-sliding control module, braked by the realization of regulating brake force size and anti-skidding
Function.
Referring to fig. 2, the braking anti-sliding control module of above-mentioned control device includes simulated measurement input circuit, frequency input electricity
Road, valve-driving circuit, the first cpu control circuit and the first CAN interface circuit, wherein simulated measurement input circuit, frequency input electricity
Road, valve-driving circuit, the first CAN interface circuit are electrically connected with the first cpu control circuit.Wherein, the first cpu control circuit
It is electrically connected with the first CAN interface circuit, realizes and communicated with the CAN bus of backboard.
Simulated measurement input circuit includes analog signals Acquisition Circuit, A/D converter circuit and the first isolation circuit, analog quantity
Signal acquisition circuit is successively electrically connected with A/D converter circuit and the first isolation circuit, and the first isolation circuit and the first CPU are controlled
Circuit is electrically connected.Analog signals Acquisition Circuit uses 4 tunnel analog input channels, and each paths can be to analog signals
It is acquired, and median filtering is carried out to the analog signals of acquisition, prevent fluctuation from interfering, and every paths can be carried out individually partially
The correction of shifting amount, facilitates re-calibration angular transducer.Specifically, analog signals Acquisition Circuit is by the pressure signal and load of acquisition
Lotus signal is sent after being converted by A/D converter circuit and after the isolation of the first isolation circuit to the processing of the first cpu control circuit.It needs
Illustrate, analog signals Acquisition Circuit measures vehicle through angular transducer first when receiving pressure signal and load signal
Angle signal between body and bogie, is converted into the vertical compression amount of steel spring or India-rubber spring, and then calculates train load letter
Number；And brake-cylinder pressure signal is acquired according to pressure sensor；Above-mentioned train load signal and the conduct of brake-cylinder pressure signal
The analog input signal of analog signals Acquisition Circuit.
Frequency input circuit includes frequency signal Acquisition Circuit, detection circuit and the second isolation circuit, frequency signal acquisition
Circuit is successively electrically connected with detection circuit and the second isolation circuit, and the second isolation circuit electrically connects with the first cpu control circuit
It connects.Frequency signal Acquisition Circuit uses 4 tunnel frequency input channels, for receiving the 4 tunnel axle speeds letter of No. 4 velocity sensors acquisition
Number, and by received shaft speed signal, it send after the fault detection of detection circuit and after the isolation of the second isolation circuit to first
Cpu control circuit processing.
Valve-driving circuit drives channel using No. 8 valves, and valve-driving circuit and the first cpu control circuit are electrically connected, and valve drives
Dynamic circuit uses valve driving chip, quickly can accurately be converted to the valve pwm control signal that the first cpu control circuit exports
Valve drive signal provides driving current, while diagnosable hydraulic valve state for hydraulic valve.To ensure valve-driving circuit and first
Third isolation circuit is arranged in being effectively isolated between cpu control circuit between valve-driving circuit and the first cpu control circuit, with
The accuracy and stability for ensuring to convert between the two.
Brake the course of work of anti-sliding control module are as follows:
The angle signal of simulated measurement input circuit receiving angle sensor acquisition is simultaneously converted into train load signal while connecing
The brake-cylinder pressure signal of pressure sensor acquisition is received, and above-mentioned analog signals are transferred to the processing of the first cpu control circuit,
The valve pwm control signal exported by the first cpu control circuit drives hydraulic valve accurately to adjust braking to valve-driving circuit
Cylinder pressure.Frequency input circuit receives 4 road shaft speed signals of velocity sensor acquisition, and calculates axis deceleration and axle speed
Difference, and judge whether to slide, if sliding, valve-driving circuit is adjusted the output to by the first cpu control circuit
Valve pwm control signal, filling liquid, pressure maintaining or drain of further regulating valve etc. prevent wheel flat and make full use of adhesion, realize
Antiskid function.
On-off signal output module include switching input module, switching value output module, the second cpu control circuit and
Second CAN interface circuit, switching input module, switching value output module, the second CAN interface circuit are controlled with the 2nd CPU
Circuit is electrically connected, wherein the second cpu control circuit is realized and backboard by being electrically connected with the second CAN interface circuit
CAN bus communication.
Switching input module includes switch quantity acquisition circuit and input self-checking circuit, wherein switch quantity acquisition circuit is adopted
On-off signal channel with 10 tunnels with Phototube Coupling, each input channel have input counnter attack protection, switch quantity acquisition circuit
It is electrically connected through input self-checking circuit and the second cpu control circuit, input self-checking circuit is used to carry out failure inspection to current circuit
It surveys.Switching value output module includes switching value output circuit and output self-checking circuit, wherein switching value output circuit uses 6 tunnels
Output switch parameter channel, each output channel all have output short circuit protection, the second cpu control circuit through output self-checking circuit with
Switching value output circuit is electrically connected, and output self-checking circuit is used to carry out state-detection to current circuit and feed back.
The course of work of above-mentioned On-off signal output module are as follows:
Switching input module acquires train-line hard signal, and is transferred to the second cpu control circuit, connects through the 2nd CAN
The CAN bus of mouth circuit and backboard communicates, and is sent to braking anti-sliding control module；Switching value output module is anti-skidding according to braking
The instruction of control module exports rigid line state.
Network communication module includes communication media interface circuit, communication isolation circuit, third cpu control circuit and third
CAN interface circuit.Communication media interface circuit, communication isolation circuit, third CAN interface circuit with third cpu control circuit
It is electrically connected, wherein third cpu control circuit is realized total with the CAN of backboard by being electrically connected with third CAN interface circuit
Line communication.Communication media interface circuit is sent to the 3rd CPU through communication isolation circuit for acquiring train network command signal
Control circuit processing, communicates through the CAN bus of third CAN interface circuit and backboard, and is sent to braking anti-sliding control module, with
And the status information feedback of each module in tramcar hydraulic braking electronic control unit is collected to train network.
Failure logging and human-machine interface module include external communication interface circuit, status display circuit, storage card, key electricity
Road, the 4th cpu control circuit and the 4th CAN interface circuit.External communication interface circuit, status display circuit, storage card, key
Circuit and the 4th CAN interface circuit are electrically connected with the 4th cpu control circuit, wherein the 4th cpu control circuit is by with the
Four CAN interface circuits are electrically connected, and are realized and are communicated with the CAN bus of backboard.
External communication interface circuit includes communication media interface circuit and interface isolation circuit, communication media interface circuit warp
Interface isolation circuit and the 4th cpu control circuit are electrically connected, and communication media interface circuit is used to communicate with external device (ED), such as
Portable test arrangement etc..Status display circuit includes charactron and display control circuit, charactron through display control circuit with
4th cpu control circuit is electrically connected, and shows current state and fault message.Key circuit includes key and key acquisition electricity
Road, key are electrically connected through key collection circuit and the 4th cpu control circuit, are instructed for input control to the 4th CPU and are controlled
Circuit.Storage card is equipped with fault message memory space, for storing fault message.
Power module includes electromagnetic compatibility and over under-voltage protection circuit, is tramcar hydraulic braking electronic control unit
Above-mentioned each module provides steady operation power supply.
The above are the structure compositions of tramcar hydraulic braking electronic control unit of the present invention, and utilization will be described in detail below
Above-mentioned tramcar hydraulic braking electronic control unit carries out the control method of braking anti-sliding control, referring to Fig. 3, specific controlling party
Method is following step a~i:
A obtains train load M；
It brakes anti-sliding control module and obtains load signal, specifically acquired and converted by angular transducer load is calculated
Lotus signal；
Herein it should be noted that in step a, angular transducer is set at each bogie of train, i.e. train
Each bogie two sides of car body are respectively provided with a pair of of angular transducer, once car body and bogie generate relative motion, Jiu Huifa
Raw angle change, angular transducer can measure the angle signal between above-mentioned car body and bogie, and by above-mentioned angle signal
It is sent to simulated measurement input circuit.I.e. analog signals Acquisition Circuit measures between car body and bogie through angular transducer first
Angle, then pass to braking anti-sliding control module and be converted into the vertical compression amount of steel spring or India-rubber spring, and then calculate train
Load M.
Meanwhile step a obtain train load M when, also need the normal of the angular transducer for judging this bogie two sides with
It is no, specific judgment method are as follows:
If the angular transducer of this bogie of a1 two sides is normal, record is obtained by the angular transducer of bogie two sides
Load signal；
If the angular transducer of a2 this bogie only side is normal, the angular transducer of bogie fault-free side is only recorded
The load signal of acquisition；
If the equal failure of angular transducer of this bogie of a3 two sides, the angular transducer for obtaining adjacent bogie two sides obtain
The load signal and record obtained；
If the equal failure of angular transducer or adjacent bogie of this bogie of a4 two sides and adjacent bogie two sides are acerous
Sensor is spent, then exports preset load signal.
B obtains deceleration target value a according to vehicle controller current brake levelTarget-；
Braking anti-sliding control module obtains vehicle controller by network communication module or On-off signal output module and works as
Preceding braking level obtains deceleration target value aTarget-；
C calculates brake force target value FTarget, and calculate brake-cylinder pressure target value PTarget；
Brake force target value F is calculated according to above-mentioned steps a and step bTarget=M*aTarget-；
According to the power target value F being calculatedTargetCalculate brake-cylinder pressure target value PTarget,Wherein SEffectively
For checking cylinder piston effective area.
D obtains brake-cylinder pressure value of feedback PFeedback；
Brake-cylinder pressure signal is acquired by pressure sensor, above-mentioned brake-cylinder pressure signal is acquired as analog signals
The analog input signal of circuit is input to braking anti-sliding control module.
E calculates pressure target error amount Δ P；
Pressure target error amount Δ P=PTarget-PFeedback。
F obtains the valve PWM target control signal of control hydraulic valve according to above-mentioned pressure target error amount Δ P；
H obtains anti-skid factor Q；
Wherein, anti-skid factor Q is obtained using following methods, referring to fig. 4, the specific steps are h1~h6:
H1 obtains current shaft speed signal VAxis；
Specifically, acquiring current shaft speed signal V by velocity sensorCurrently, and it is uploaded to braking anti-sliding control module
Frequency input circuit, frequency input circuit can receive 4 road shaft speed signals simultaneously.Meanwhile obtaining current shaft speed signal VAxis,
It need to be to current shaft speed signal VAxisGlide filter processing is carried out, to ensure current shaft speed signal for newest shaft speed signal.
H2 calculates current vehicle speed signal VVehicle；
Current shaft speed signal V can be acquired according to step h1AxisObtain current vehicle speed signal VVehicle, in specific calculating process,
According to the current shaft speed signal V of the multichannel of acquisitionAxisIn maximum value and setting theoretical speed signal VIt is theoreticalIt is compared, takes two
The larger value in person is as current vehicle speed signal VVehicle。
H3 calculates current axis speed difference Δ V；
According to current shaft speed signal VAxisWith current vehicle speed signal VVehicleCurrent axis speed difference Δ V, i.e. Δ V=is calculated
VAxis-VVehicle；
H4 calculates current axis deceleration Δ aCurrently-；
Current axis deceleration Δ is obtained in the adjacent shaft speed signal of the acquisition of certain time period according to velocity sensor
aCurrently-, i.e., current shaft speed signal VAxis, the shaft speed signal acquired before time interval Δ t is previous moment shaft speed signal
VBefore axis, and current axis deceleration Δ aCurrently-=(VAxis-VBefore axis)/Δt。
H5 judge current axis speed difference Δ V whether be more than setting speed difference threshold value；
If current axis speed difference Δ V is more than the speed difference threshold value of setting, anti-skid factor Q is obtained according to depth is slided；
If current axis speed difference Δ V is less than the speed difference threshold value of setting, current axis deceleration Δ is further judged
aCurrently-It whether is more than deceleration threshold；
If h6 current axis deceleration Δ aCurrently-More than threshold value Δ a0-, then basis slides depth and obtains anti-skid factor Q；
If current axis deceleration Δ aCurrently-It is less than threshold value Δ a0-, then anti-skid factor Q is set as 1.0.
I obtains valve PWM and finally controls signal according to the anti-skid factor Q and valve PWM target control signal of above-mentioned acquisition,
And then hydraulic valve is driven accurately to adjust brake-cylinder pressure, it prevents wheel flat and makes full use of adhesion, realize braking antiskid function.
Wherein anti-skid factor Q value range is 0.0~1.0, if not sliding, anti-skid factor 1.0；If sliding
Row, then anti-skid factor is less than 1.0, and specific value should be obtained according to depth is slided, and slides that depth is deeper, and anti-skid factor Q value is got over
It is small, slide that depth is more shallow, and anti-skid factor Q value is bigger.
Referring to Fig. 5, as one embodiment of the present invention, in above-mentioned steps i, proportioning valve is can be used in hydraulic valve, if
Proportioning valve then brakes anti-sliding control module by controlling the valve pwm control signal of proportioning valve come the size of regulating brake force, if system
Power is bigger than normal, then turns valve pwm control signal down；If brake force is less than normal, valve pwm control signal is tuned up, specifically:
4 road shaft speed signal V are obtained by velocity sensorAxis, it is sent to braking anti-sliding control resume module, and by upper
It states h1~h6 method and obtains anti-skid factor Q；
Train load M is obtained by angular transducer, is sent to braking anti-sliding control resume module, and pass through the above method
A~f method obtains valve PWM target control signal；
The anti-skid factor Q of acquisition and the valve PWM target control signal of acquisition are subjected to logical AND processing, obtain proportioning valve
Valve PWM finally controls signal, and then proportioning valve is driven accurately to adjust brake-cylinder pressure, prevents wheel flat and makes full use of viscous
, realize braking antiskid function.
Referring to Fig. 6, as another embodiment of the present invention, in above-mentioned steps i, high-speed switch valve is can be used in hydraulic valve,
According to high-speed switch valve, then anti-sliding control module is braked by the valve PWM of control prefill valve and finally controls signal or tapping valve
Valve PWM finally control the size that signal carrys out regulating brake force, if brake force is bigger than normal, turns valve pwm control signal down, that is, open
The tapping valve of high-speed switch valve is to reduce pressure；If brake force is less than normal, valve pwm control signal is tuned up, i.e. opening high-speed switch
The prefill valve of valve to increase pressure, specifically:
4 road shaft speed signal V are obtained by velocity sensorAxis, it is sent to braking anti-sliding control resume module, and by upper
It states h1~h6 method and obtains anti-skid factor Q；
Train load M is obtained by angular transducer, is sent to braking anti-sliding control resume module, and pass through the above method
A~f method obtains valve PWM target control signal；According to the current state of vehicle, by the valve PWM mesh of anti-skid factor Q and prefill valve
Mark controls signal, the valve PWM target control signal of tapping valve carries out logical AND processing respectively, and the valve PWM for obtaining prefill valve is final
The valve PWM of control signal or tapping valve finally controls signal, and the valve PWM of prefill valve is finally controlled to the valve of signal and tapping valve
PWM finally controls signal and carries out logic or processing, and the valve PWM for exporting prefill valve finally controls the valve PWM of signal or tapping valve most
Control signal drives high-speed switch valve accurately to adjust brake-cylinder pressure in turn eventually, prevents wheel flat and makes full use of adhesion, real
Now brake antiskid function.
It should be noted that if hydraulic valve uses high-speed switch valve, braking should be adjusted according to the current state of vehicle at this time
Cylinder pressure, detailed process are as follows:
If vehicle is currently at recovery state, the valve PWM of prefill valve finally controls signal=valve PWM target control letter
Number * anti-skid factor Q；It is 0 that the valve PWM of tapping valve, which finally controls signal,.
If vehicle is currently at hold mode, it is 0 that the valve PWM of prefill valve, which finally controls signal, and the valve PWM of tapping valve
Final control signal is 0.
If vehicle is currently at sliding state, the valve PWM of tapping valve finally controls signal=valve PWM target control letter
Number * (1.0- anti-skid factor Q)；It is 0 that the valve PWM of prefill valve, which finally controls signal,.
If vehicle is currently at non-recovery, non-holding, the non-normal brake application state slided, the valve PWM of prefill valve is final
Control signal=valve PWM target control signal；It is 0 that the valve PWM of tapping valve, which finally controls signal,.
During above-mentioned adjustment brake-cylinder pressure, according to the current state of vehicle, its prefill valve and tapping valve are filled
Drain control, and then carry out sliding control.If vehicle is recovery state, the valve of prefill valve is controlled according to current recovery situation
PWM finally controls signal, and closes tapping valve, so that hydraulic braking force is gradually restored；If vehicle is hold mode, close
Prefill valve and tapping valve keep current braking effort；If vehicle is sliding state, prefill valve is closed, and according to sliding depth control
The valve PWM of tapping valve processed finally controls signal, to reduce hydraulic braking force, restores adhesion.
Finally, it should be noted that the above examples are only used to illustrate the technical scheme of the present invention, rather than it is limited,
Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that: its according to
It can so modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes.And these are modified or replaceed, the model for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (10)
1. a kind of tramcar hydraulic braking anti-skid control method, which is characterized in that comprise the following methods:
Obtain train load M；
According to vehicle braking level, deceleration target value a is obtainedTarget-；
Calculate brake force target value FTarget, FTarget=M*aTarget-；
Calculate brake-cylinder pressure target value PTarget,Wherein SEffectivelyFor checking cylinder piston effective area；
Obtain brake-cylinder pressure value of feedback PFeedback, and calculate pressure target error amount Δ P, Δ P=PTarget-PFeedback；
According to the pressure target error amount Δ P, the valve PWM target control signal of control hydraulic valve is obtained；
Obtain current shaft speed signal VAxis, and anti-skid factor Q is calculated, Q value range is 0.0~1.0；
It according to the anti-skid factor Q and the valve PWM target control signal, obtains valve PWM and finally controls signal, and then drive liquid
Pressure valve adjusts brake-cylinder pressure, carries out braking and anti-sliding control.
2. braking anti-skid control method according to claim 1, it is characterised in that: specific when the calculating anti-skid factor Q
The following steps are included:
Obtain current shaft speed signal VAxis；
Calculate current vehicle speed signal VVehicle；
Calculate current axis speed difference Δ V, Δ V=VAxis-VVehicle；
Calculate current axis deceleration Δ aCurrently-, Δ aCurrently-=(VAxis-VBefore axis)/Δ t, wherein Δ t is time interval, VBefore axisWhen being previous
Carve shaft speed signal；
Judge current axis speed difference Δ V whether be more than setting speed difference threshold value, if being more than, according to slide depth obtain it is anti-skidding
Coefficient Q；If not exceeded, then further judging current axis deceleration Δ aCurrently-It whether is more than deceleration threshold；If being more than, basis
It slides depth and obtains anti-skid factor Q；If not exceeded, anti-skid factor Q is then set as 1.0.
3. braking anti-skid control method according to claim 2, it is characterised in that: the acquisition current vehicle speed signal VVehicleStep
In rapid, according to the current shaft speed signal V of the multichannel of acquisitionAxisIn maximum value and setting theoretical speed signal VIt is theoreticalIt is compared,
Take the larger value in the two as current vehicle speed signal VVehicle。
4. braking anti-skid control method according to claim 1, it is characterised in that: in the acquisition train load M, pass through
Angular transducer measures the angle between car body and bogie, is converted into the vertical compression amount of steel spring or India-rubber spring, and then calculate
Train load M out；Each bogie two sides are respectively provided with a pair of of angular transducer.
5. braking anti-skid control method according to claim 4, it is characterised in that: in the acquisition train load M, need to sentence
Whether the angular transducer of this bogie two sides of breaking works normally, specific judgment method are as follows:
If the angular transducer of this bogie two sides is normal, load letter is obtained by the angular transducer of this bogie two sides
Number；
If the angular transducer of this bogie only side is normal, load letter is obtained by the angular transducer of bogie fault-free side
Number；
If the equal failure of the angular transducer of this bogie two sides, load letter is obtained by the angular transducer of adjacent bogie two sides
Number；
If the equal failure of angular transducer or adjacent bogie non-angular sensing of this bogie two sides and adjacent bogie two sides
Device then exports preset load signal.
6. braking anti-skid control method according to claim 1, it is characterised in that: the hydraulic valve is proportioning valve, described
When acquisition valve PWM finally controls signal, the anti-skid factor Q and the valve PWM target control signal are subjected to logical AND processing,
The valve PWM for obtaining proportioning valve finally controls signal.
7. braking anti-skid control method according to claim 1, it is characterised in that: the hydraulic valve is high-speed switch valve,
It,, will be described anti-skidding according to the current state of vehicle when the acquisition valve PWM finally controls signal including prefill valve and tapping valve
The valve PWM target control signal of coefficient Q and the prefill valve, the tapping valve valve PWM target control signal patrolled respectively
It collects and handles, the valve PWM for obtaining prefill valve finally controls signal or the valve PWM of tapping valve finally controls signal, and fills described
The valve PWM of liquid valve finally controls signal and the valve PWM of the tapping valve finally controls signal progress logic or processing, obtains valve
PWM finally controls signal.
8. anti-skid control method according to claim 7, it is characterised in that: the high-speed switch valve includes prefill valve and row
Liquid valve, high-speed switch valve adjust the course of work of brake-cylinder pressure are as follows:
If vehicle is in recovery state, the valve PWM of prefill valve finally controls signal=anti-skidding system of valve PWM target control signal *
Number Q；It is 0 that the valve PWM of tapping valve, which finally controls signal,；
If vehicle is in hold mode, it is 0 that the valve PWM of prefill valve, which finally controls signal, and the valve PWM of tapping valve is finally controlled
Signal is 0；
If vehicle is in sliding state, the valve PWM of tapping valve finally controls signal=valve PWM target control signal *, and (1.0- is anti-
Sliding coefficient Q)；It is 0 that the valve PWM of prefill valve, which finally controls signal,；
If vehicle is currently at non-recovery, non-holding, the non-normal brake application state slided, the valve PWM of prefill valve is finally controlled
Signal=valve PWM target control signal；It is 0 that the valve PWM of tapping valve, which finally controls signal,.
9. a kind of braking anti-sliding control module is used for braking anti-skid control method according to any one of claims 1 to 8, special
Sign is: the braking anti-sliding control module includes: simulated measurement input circuit, frequency input circuit, valve-driving circuit, the first CPU
Control circuit and the first CAN interface circuit；Simulated measurement input circuit, frequency input circuit, valve-driving circuit, the first CAN interface
Circuit is electrically connected with the first cpu control circuit, and the first cpu control circuit and the first CAN interface circuit are electrically connected；
The simulated measurement input circuit is for obtaining train load M and brake-cylinder pressure value of feedback PFeedback；
The frequency input circuit is for obtaining current shaft speed signal VAxisWith previous moment shaft speed signal VBefore axis；
First cpu control circuit is for receiving and processing the train load M, the brake-cylinder pressure value of feedback PFeedback, institute
State current shaft speed signal VAxisWith the previous moment shaft speed signal VBefore axis, and obtain valve PWM and finally control signal；
The valve-driving circuit is used to finally control signal control liquid valve adjustment brake-cylinder pressure according to the valve PWM, is made
Dynamic anti-sliding control.
10. a kind of tramcar hydraulic braking electronic control unit, which is characterized in that the electronic control unit includes: right
It is required that the 9 braking anti-sliding control modules, On-off signal output module, failure logging and human-machine interface module, network communication
Module, power module and backboard, the braking anti-sliding control module, the On-off signal output module, the failure logging
And human-machine interface module, the network communication module carry out CAN communication by the backboard.
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| CN201710792077.0A CN107585149B (en) | 2017-09-05 | 2017-09-05 | Tramcar hydraulic braking electronic control unit, braking anti-sliding control module and braking anti-skid control method |
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| CN201710792077.0A CN107585149B (en) | 2017-09-05 | 2017-09-05 | Tramcar hydraulic braking electronic control unit, braking anti-sliding control module and braking anti-skid control method |
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| CN109159774B (en) * | 2018-08-28 | 2021-06-04 | 中车株洲电力机车有限公司 | Distribution management method and device for hydraulic braking force of whole vehicle |
| CN109895754B (en) * | 2019-03-05 | 2020-06-05 | 中南大学 | A train anti-skid control method and control device based on optimal slip rate |
| CN111717233B (en) * | 2020-06-23 | 2021-08-24 | 浙江瑞立空压装备有限公司 | an integrated braking system |
| CN112124276B (en) * | 2020-08-28 | 2021-08-03 | 中车唐山机车车辆有限公司 | Train antiskid control method and device |
| CN113370949B (en) * | 2021-07-01 | 2022-05-31 | 中车制动系统有限公司 | Rail vehicle brake cylinder pressure calculation method and system and brake control system |
| CN114701458B (en) * | 2022-03-30 | 2023-04-11 | 中国铁道科学研究院集团有限公司铁道科学技术研究发展中心 | Control system and control method for wheel rail braking |
| CN116373609B (en) * | 2023-06-05 | 2023-07-28 | 厦门金龙汽车新能源科技有限公司 | Braking strategy optimization method for pure electric bus |
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| DE102011113072A1 (en) * | 2011-09-09 | 2013-03-14 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Brake control device for a rail vehicle, brake system for a rail vehicle, rail vehicle and method for controlling a brake system of a rail vehicle |
| DE102012202120A1 (en) * | 2012-02-13 | 2013-08-14 | Siemens Aktiengesellschaft | Anti-skid system of a braking device |
| CN105593083B (en) * | 2013-09-26 | 2018-03-30 | 西门子公司 | Method for braking orbit vehicle and the open loop for brakes and/or closed-loop control device |
| CN104071143B (en) * | 2014-07-10 | 2016-03-16 | 南京浦镇海泰制动设备有限公司 | A kind of rail vehicle braking control unit |
| CN109229082B (en) * | 2018-07-23 | 2019-12-03 | 同济大学 | A kind of rail vehicle braking system anti-skid control method |
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