CN110435432A - Pantograph rising bow control system and method - Google Patents

Abstract

The invention provides a pantograph lift control method and a control system. The control method is as follows: including an automatic control mode and a manual control mode, and the control method includes the following steps: judging whether the vehicle is in an automatic driving mode; if so, adopting automatic control If not, the manual control mode is used to generate the ascending bow control command signal. The ascending bow control system includes a controller whose control signal output end is connected to the pantograph ascending bow execution control mechanism, and specifically includes: an automatic control unit: used to generate a bow ascending control command signal when the vehicle is in an automatic driving mode; manual control Unit: When the vehicle is in the manual driving mode, it is used to receive the command of the bow-raising control key and generate the bow-raising control command signal. The method and system are based on fully automatic operation control, control the pantograph lifting bow through the network, realize the fusion of various lifting bow control strategies, and improve the reliability of the lifting bow control.

Description

Pantograph lift control system and method

technical field

The invention relates to the technical field of train control, in particular to a pantograph lift control system and a control method.

Background technique

The train runs to get electricity through the pantograph. In order to obtain electricity normally, it is necessary to ensure that the pantograph is in normal contact with the power grid, and the operation of raising or lowering the bow is required.

With the application of fully automatic driverless technology in urban rail projects, some fully automatic driverless control technologies have emerged. As the power source for the entire train, the fully automatic driverless automatic bow lifting technology is used in the entire system. is particularly important.

The traditional train pantograph control method adopts the hard-wire control method. By pressing the lift button set on the driver's platform, the lift solenoid valve is energized, so as to realize the pantograph lift control. This strategy can only be achieved by connecting other conditions of bow control in the hard line of the vehicle. If there is a single point of failure, the bow lift function will fail and the redundancy will be low. Moreover, the bow lift control must be achieved with manual participation. applied to unmanned systems.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a redundant pantograph lift control method and system, which can be used for pantograph lift control of an unmanned vehicle and has high reliability.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A pantograph lifting bow control method includes an automatic control mode and a manual control mode, and the control method includes the following steps:

Determine whether the vehicle is in automatic driving mode;

If so, the automatic control mode is adopted to generate the command signal of the ascending bow;

If not, the manual control mode is adopted to generate the ascending bow control command signal.

Preferably, the automatic control mode includes a fully automatic unmanned control mode and a remote manual control mode.

As a preference, in the fully automatic unmanned control mode, the method for generating the command signal for ascending bow control is as follows:

When the train is in the wake-up condition, the vehicle lift-up permission signal is generated according to the air pressure of the main air duct of the vehicle pantograph;

If the air pressure meets the bow raising condition, the bow raising control command signal will be automatically generated;

If the air pressure does not meet the bow-raising conditions, it will output a hard-wire emergency bow-raising control command signal to control the pantograph air pump to turn on until the air pressure meets the bow-raising conditions, and automatically generate the bow-raising control command signal.

As preferably, under the fully automatic unmanned control mode, the method for generating the ascending bow control signal further comprises the following steps:

Before automatically generating the bow-raising control command signal or outputting the hard-wire emergency bow-raising control command signal, further judge the bow-raising condition, and when the bow-raising condition is satisfied, generate the bow-raising control instruction signal, and the bow-raising condition judgment includes but not limited to:

The pantograph has no descending bow signal;

The isolation switches in the high-voltage distribution box are all at the pantograph position;

The train network control system is fault-free;

Speed is zero.

Preferably, in the remote manual control mode, the method for generating the command signal of the bow lift control is as follows:

The bow raising command is issued through the ground control terminal;

After receiving the bow-raising command, the vehicle end further judges the bow-raising condition, and generates a bow-raising control instruction signal when the bow-raising condition is satisfied. The bow-raising condition judgment includes but is not limited to:

The pantograph has no descending bow signal;

The isolation switches in the high-voltage distribution box are all at the pantograph position;

The train network control system is fault-free;

Speed is zero.

An ascending bow control system, comprising a controller, a control signal output end of the controller is connected with a pantograph ascending bow execution control mechanism, and the controller comprises:

Automatic control unit: used to generate bow control command signal when the vehicle is in automatic driving mode;

Manual control unit: When the vehicle is in the manual driving mode, it is used to receive the command of the bow control key and generate the command signal of the bow control.

Preferably, the automatic control unit includes:

Fully automatic unmanned control module: It is used to generate a bow-raising control command signal when there is no ground remote bow-raising command and the train meets the bow-raising conditions.

Remote manual control module: It is used to generate a bow-raising control command signal when the ground remote bow-raising command is obtained and the train meets the bow-raising conditions.

Preferably, the signal output end of the controller is connected to a signal output unit, the signal output unit includes a first control signal output module and a second control signal output module connected in series, and the first control signal output module is the first control signal output module. DO point, the second control signal output module is the second DO point, the controller generates the opening and closing control signals of the first DO point and the second DO point, and the series output terminal of the first DO point and the second DO point Connect with the bow solenoid valve.

Compared with the prior art, the advantages and positive effects of the present invention are:

The method and system are based on fully automatic operation control, and are suitable for fully automatic operation of the pantograph lift control method of trains. According to the characteristics of unmanned driving, the pantograph lift can be controlled through the network, and redundancy can be increased from the software level. , to achieve the fusion of various control strategies of the bow, and improve the reliability of the control of the bow.

Description of drawings

Fig. 1 is a schematic diagram of the self-adaptive control process of the pantograph network according to the present invention;

FIG. 2 is a schematic diagram of a simulation structure of a cross-network path.

Detailed ways

Hereinafter, the present invention will be specifically described through exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially combined in other embodiments without further recitation.

The present invention provides a pantograph lift control method and a control method, which can be used for automatic lift control of an automatic driving vehicle.

The pantograph lift control method includes an automatic control mode and a manual control mode, wherein the automatic control mode is used for the lift control of the vehicle running under the automatic driving mode; the manual control mode is used for the vehicle to run under the manual driving mode. control.

The vehicle control system selects a control method according to the running state of the vehicle. Specifically, the control method includes the following steps:

Determine whether the vehicle is in automatic driving mode;

If so, the automatic control mode is adopted to generate the command signal of the ascending bow;

If not, the manual control mode is adopted to generate the ascending bow control command signal.

Further, the automatic driving mode is further divided, and the automatic control mode includes a fully automatic unmanned control mode and a remote manual control mode. Among them, the fully automatic unmanned control mode is used for the vehicle itself to generate the bow control command, and the remote manual control mode is used for the remote bow control of the vehicle on the ground.

Below, the specific working process of each control mode will be described in detail.

(1) Fully automatic unmanned control mode

In a nutshell, in the fully automatic unmanned control mode (all FAM mode switch signals are FAM mode bits), the method of generating the command signal of the bow lift control is as follows:

When the train is in the wake-up condition, it is judged whether the vehicle has a rising bow permission signal. The bow lifting permission signal described here is generated according to the air pressure of the main air duct of the pantograph. Bow permission condition, cannot generate normal bow permission signal;

If so, automatically generate the bow-raising control command signal;

If not, output a hard-wire emergency bow lift control command signal to control the pantograph air pump to turn on until the air pressure meets the bow lift allowable conditions, and then automatically generate a lift bow control command signal.

Specifically, it is first necessary to ensure that the vehicle is in the wake-up state and needs to be powered on. The train network control and monitoring system (TCMS for short) detects the power-on demand signal. The power-on demand signal can be set according to the control requirements of different signal system manufacturers, which can be: automatic driving preparation mode signal or high-voltage test command signal, etc. The power-on demand signal is the precondition for the bow control.

Further, in the case that the preconditions for bow lifting are satisfied, the train TCMS system further judges whether the following bow lifting allowable conditions are met:

①All pantographs have no ADD descending bow signal.

② The isolation switches (IES) in all high-voltage distribution boxes are at the pantograph position. Among them, IES is a device related to the pantograph, which is divided into many positions, including the pantograph position, the ground position, etc. If it is not in the pantograph position, the bow is not allowed to be raised.

③The CAM mode/standby mode is not captured at both ends of the head and tail cars. Specifically, the CAM mode is a creep mode, a mode entered after the TCMS fails. Similar to the standby mode, these two mode signals are sent by the vehicle hard-wired.

④The vehicle is at zero speed. Considering the safety of bow raising, the bow raising command can be executed when the train is stationary.

⑤The signal of the bicycle lift is allowed, and the bicycle pantograph is not in place.

Among them, the bow lift permission signal is mainly for the pantograph that needs to use the air pressure to rise. When the train sleeps for a long time or the main air duct has air leakage, it will appear when the vehicle wakes up and the train is in a state of "electricity and no air". In an emergency situation, there is a no-bow lift permission signal for all trains at this time. In this case, after all conditions are met, the TCMS will output a hard-wired signal of emergency lift command, which will drive the electric pump to blow wind. After the wind pressure is satisfied, the If the allowable conditions for the ascending bow are satisfied, the TCMS controls the ascending bow of each pantograph according to the normal automatic ascending bow strategy.

Under the condition that the above conditions are all satisfied, a command signal of pantograph lifting control is generated, and the signal is specifically a pulse wave acting on the lifting solenoid valve to realize pantograph lifting control.

(2) Remote manual control mode

In the remote manual control mode, the method of generating the command signal of the ascending bow is as follows:

The bow raising command is issued through the ground control terminal;

After receiving the bow-raising command, the vehicle end further judges the bow-raising condition, and generates a bow-raising control instruction signal when the bow-raising condition is satisfied.

Specifically, a wireless communication network is constructed between the train and the train, and the train can receive the control signal from the train. Vehicle dispatching is set through the expert workstation to set the ascending bow selection knob. After the vehicle dispatching adjustment is completed, the ascending bow selection button is pressed. Different from the local bow lift, the bow lift command is sent to the train by the expert workstation through the LTE train-ground channel. After receiving the command, the TCMS outputs the hard-wired signal of the pantograph lift command after judging that all the following conditions are satisfied.

The bow condition judgment includes but is not limited to:

①All pantographs have no ADD descending bow signal.

② The isolation switches (IES) in all high-voltage distribution boxes are at the pantograph position.

③The CAM mode/standby mode is not captured at both ends of the head and tail cars. That is, the train network system is fault-free.

④The vehicle is at zero speed.

Compared with the fully automatic unmanned control mode, the remote manual mode is to manually issue commands to the vehicle through the central controller, which requires a certain degree of human participation. The personnel of the ground control center will manually confirm the ascending bow permission signal and the ascending bow position signal.

(3) Manual control mode.

Local artificial bow lift: In the non-automatic driving mode, after the driver's cab is activated, when the bow lift condition is available, after the operator has adjusted the lift bow selection button, press the bow lift button, and the hard-line command directly acts on the lift bow battery valve. , to complete the control of the pantograph ascending bow.

The present invention further provides a bow lift control system, which can implement the above control method, and can be configured on unmanned vehicles such as trains or trams that use pantographs to obtain electricity.

A bow-lifting control system includes a controller, which can directly adopt a train network, that is, a monitoring and control system, or can also configure the controller independently. The control signal output end of the controller is connected with the pantograph raising and bow execution control mechanism, specifically connected with the pantograph raising bow solenoid valve, so as to output the control pulse signal to the raising bow solenoid valve to realize pantograph raising bow control. . Controllers include:

Automatic control unit: It is used to automatically generate the command signal of the bow lift control when the vehicle is in the automatic driving mode;

Manual control unit: When the vehicle is in the manual driving mode, it is used to receive the command of the bow control key and generate the command signal of the bow control.

As a further optimization, the decision rule of the bow-raising condition preset in the controller can refer to the rules mentioned above. The controller uses the feedback signal of the corresponding detection mechanism to obtain the signal state corresponding to the bow-raising condition rule of the mobile phone. The automatic control unit further includes:

Fully automatic unmanned control module: It is used to generate a bow-raising control command signal when there is no ground remote bow-raising command and when the train meets the bow-raising conditions.

Remote manual control module: It is used to generate a bow-raising control command signal when the ground remote bow-raising command is obtained and the train meets the bow-raising conditions.

In addition, abnormal signals and equipment failures in the pantograph ascending control system will lead to abnormal ascending. In order to reduce the failure rate of abnormal risers, different from the prior art, the present invention also provides a signal output structure in which DO points are connected in series. The signal output end of the controller is connected to a signal output unit, and the signal output unit includes a first control signal output module (DO1 signal output point) and a second control signal output module (DO2 signal output point) connected in series, and the controller outputs a signal Used to control the switch state of DO1 and DO2.

Refer specifically to FIG. 2 . The pantograph lifting permission signal comes from the hard wire signal (including the aforementioned lifting permission signal). Through logical calculation, when the pantograph lifting control conditions are met, the TCMS lifting command adopts two different input and output modules. Compared with the single-point control, the reliability is improved. It can effectively avoid the abnormal rise caused by the current spike interference in the vehicle circuit, and also avoid the abnormal rise caused by the abnormal closing fault or adhesion of the single input and output module of the TCMS. bow. Calculated according to the failure rate of DO point of TCMS required by SIL2 level of 10 ^-6 as an example, that is, the probability of DO point engagement and engagement are both 10 ^-6 .

In the above two DO configurations, the probability of not being able to raise the bow due to engagement and the probability of abnormal bow raising due to card points is as follows.

It can be seen that after two DO points are connected in series, the probability of abnormal bow raising is reduced exponentially. Although the probability of not being able to raise the bow is twice the probability of a single DO, it does not increase much on the order of 10 ^-6 , and From the perspective of guidance safety, it is the correct approach to greatly reduce the probability of abnormal bow rise. This approach greatly reduces the probability of abnormal bow rise while minimizing the complexity of the vehicle's hard lines.

The pantograph lift control system and control method provided by the present invention can be used for automatic lift control of fully automatic unmanned vehicles. Due to the redundant design of multiple control modes, the overall control system has high reliability and intelligence.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in other forms. Any person skilled in the art may use the technical content disclosed above to make changes or modifications to equivalent changes. The embodiments are applied to other fields, but any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still belong to the protection scope of the technical solutions of the present invention without departing from the content of the technical solutions of the present invention.

Claims (8)

1. a kind of pantograph rising bow control method, which is characterized in that described including automatic control mode and manual control mode Control method the following steps are included:

Judge whether vehicle is in automatic driving mode；

If so, generating rising bow control instruction signal using automatic control mode；

If it is not, then using manual control mode, rising bow control instruction signal is generated.

2. pantograph rising bow control method as described in claim 1, which is characterized in that the automatic control mode include it is complete from Move unmanned control model and remote handle control model.

3. pantograph rising bow control method as claimed in claim 2, which is characterized in that raw under full-automatic unmanned control model At the method for rising bow control instruction signal are as follows:

When train is in and wakes up operating condition, generating vehicle rising bow according to the main air hose air pressure of vehicle pantograph allows signal；

If air pressure meets rising bow condition, rising bow control instruction signal is automatically generated；

If air pressure is unsatisfactory for rising bow condition, rigid line emergency rising bow control instruction signal is exported, control pantograph air pump is opened, directly When meeting rising bow condition to air pressure, rising bow control instruction signal is automatically generated.

4. pantograph rising bow control method as claimed in claim 3, which is characterized in that raw under full-automatic unmanned control model It is further included steps of at the method for rising bow control signal

Before automatically generating rising bow control instruction signal or output rigid line emergency rising bow control instruction signal, further progress rising bow Condition judgement generates rising bow control instruction signal and under the conditions of meeting rising bow, and the rising bow condition judgement includes but unlimited In:

Pantograph bends signal without drop；

Disconnecting switch is in pantograph position in high pressure distributor box；

Train network control system fault-free；

Speed is zero.

5. pantograph rising bow control method as claimed in claim 2, which is characterized in that under remote handle control model, generate The method of rising bow control instruction signal are as follows:

Rising bow instruction is assigned by ground control terminal；

After vehicle end receives rising bow instruction, the judgement of further progress rising bow condition, and under the conditions of meeting rising bow, generate rising bow control Command signal processed, the rising bow condition judgement includes but is not limited to:

Pantograph bends signal without drop；

Disconnecting switch is in pantograph position in high pressure distributor box；

Train network control system fault-free；

Speed is zero.

6. a kind of rising bow control system, which is characterized in that including controller, the control signal output and pantograph liter of controller Bow executes control mechanism connection, and the controller includes:

Automatic control unit: for generating rising bow control instruction signal when vehicle is in automatic driving mode；

Manual control unit: for when vehicle is in pilot steering mode, receiving rising bow manipulation key instruction, and rising bow control is generated Command signal processed.

7. rising bow control system as claimed in claim 6, which is characterized in that the automatic control unit includes: full-automatic nothing People's control module: in the instruction of the long-range rising bow in no ground, and when train meets rising bow condition, rising bow control instruction letter is generated Number.

Remote handle control module: for obtaining ground long-range rising bow instruction, and when train meets rising bow condition, rising bow is generated Control instruction signal.

8. rising bow control system as claimed in claim 6, which is characterized in that the signal output end connection signal of the controller Output unit, the signal output unit include the first control signal output module being connected in series and second control signal output Module, the first control signal output module are the 1 DO point, and the second control signal output module is the 2nd DO point, institute State the open and close control signal that controller generates the 1 DO point and the 2nd DO point, the series connection output end of the 1 DO point and the 2nd DO point with The connection of rising bow solenoid valve.