CN101214819B - Method and guiding device for diesel traction engine optimizing operation - Google Patents
Method and guiding device for diesel traction engine optimizing operation Download PDFInfo
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- CN101214819B CN101214819B CN2008100565571A CN200810056557A CN101214819B CN 101214819 B CN101214819 B CN 101214819B CN 2008100565571 A CN2008100565571 A CN 2008100565571A CN 200810056557 A CN200810056557 A CN 200810056557A CN 101214819 B CN101214819 B CN 101214819B
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Abstract
The invention discloses an operation optimization method and an instruction device of an internal-combustion traction locomotive. The device adopts RS-485 serial communication mode to collect the train running information of current time, combines the static storage information in basic databases, adopts the operation optimization method of the internal-combustion traction locomotive with the cores of the real-time control algorithm for train running with energy saving. Namely by designing the real-time control algorithm based on combining the methods including the preliminary judgment on the operation condition of the locomotive and the handle position by the parameters including balance slope and target velocity, the expert control principle, the forward calculation of train operation and the calculation meeting the duration, the invention calculates on -line the guide proposal of the train operation optimization based on the current running environment and condition, real-time displays the operating guidance curve of velocity versus distance and the operating guidance curve of traction speed versus distance for the frontward 5 kilometers of the train running. The system can ensure that the train restores to run on schedule and runs in energy conservation via the dynamic adjustment on operation strategy or target velocity.
Description
Technical field
The present invention relates to a kind of method and guiding device of diesel traction engine optimizing operation, belong to the locomotive control field.
Background technology
Train travelling process is the nonlinear system of a representative type complexity, many inputs, multiple goal, large time delay, a large amount of randomness and uncertain factor have been full of, be difficult to find its precise math model and optimal solution, how to calculate the operational effect of train under various different conditions accurately and rapidly, search satisfactory solution to realize that train safe, steady, punctual, energy-conservation travelling are that train is optimized the main task that operation and control calculates.
Because the complexity of train operation environment, algorithm model and solution technique thereof that train is optimized operation and control are a very difficult job, and strict field of application is arranged, and the control algorithm to train optimization operation has had some researchs both at home and abroad.The eighties in 20th century, the computer-controlled train operator's supplementary controlled system of Mctromiser trail run in short-distance transport of Australian SGG research institute exploitation, experiment effect is good.China still is in initial stage to the research of this respect.1989, it is the microcomputer guidance system of hypotactic engine optimizing operation with micro controller system that Beijing Jiaotong University (former Northern Transportation University) has developed a cover, based on the principle of optimality and fuzzy control theory, offline optimization calculates and On-line Fuzzy control combines, and experimentizes on Diesel Locomotive Model Beijing.Experimental result shows that this system has improved the train running on scheduled time rate, saved fuel oil consumption.Nineteen ninety-five, " alleviate heavy haul train and circuit mutual action and optimize the research of handling " in conjunction with country's " eight or five " emphasis key scientific and technological projects, Southwest Jiaotong University has developed novel on-vehicle microcomputer system " guiding device is handled in train optimization ", has adopted the off-line optimizing to set up and has optimized the method that the operation and control data bank is adjusted in conjunction with online in real time again.This system is on probation, respond well on two DF4 type diesel-electric locomotives once also.
Research in the past is the run curve of calculation optimization how before train is driven mostly, and is less about the real-time control algorithm in the train actual moving process, and especially the The Study of Real Time Control of train optimization operation is still less under the multiple row car running environment.The research of the external energy-conservation algorithm of train lays particular emphasis on theory, its computation model complexity, and must iterate just can be optimized separates, and for the domestic big railway operation section of running environment complexity, the computing machine of existing main flow is difficult to bear complex calculations like this.And the method that domestic research adopts offline optimization to combine with On-line Control basically, its train that provides is optimized the result of variations mostly manipulation schemes is the train operation operating mode, and these algorithms more are applicable to the train energy-saving run of infinite speed variation pattern.And the locomotive that is mostly the step speed regulation pattern that domestic railway transportation uses is provided with several traction handle positions and rheostatic brake handle position, and different handle positions will directly cause different operational effects.So chaufeur is being handled when instructing, the velocity mode curve that provides train optimization to handle for chaufeur both had been provided, operating mode, handle position (diesel engine speed) modeling curve also should be arranged.Therefore, research and develop out a cover be applicable under the domestic big railway real-world operation environmental conditions operation fast and accurately and effectively diesel traction engine optimizing operation algorithm and guiding device has important practical significance and application prospects.
Summary of the invention
Optimize the problems referred to above of steering algorithm for solving existing train, realize train safe, steady, punctual, energy-conservation travelling, the invention provides a kind of train of domestic each main model diesel locomotive that is applicable to and optimize method of operating and guiding device.
A kind of train of domestic each main model diesel locomotive that is applicable to is optimized method of operating and guiding device, be to be based upon on the basis of the real-time control algorithm of train energy-saving run, handle guidance program in line computation based on the train optimization of current running environment and condition, when train moved at late state, guiding device can provide the optimization manipulation schemes of recovering the train running on scheduled time operation in real time.Device is installed in the locomotive driving chamber, can be used for different circulation lines and signal configures situation, system do not influence the locomotive existing weaponry and equipment layout and work, do not influence driver operation.
A kind of diesel traction engine optimizing operation guiding device adopts 4U standard PC case structure, has both met the requirement of open workplatform structure, also is convenient to normalisation, the modularization of device, helps Device Testing, maintenance, function expansion and standardized administration.
A kind of diesel traction engine optimizing operation guiding device can lie prostrate direct current (DC) or 220 volts of alternating current by external 100-240, its communication unit adopts the RS-485 signalling methods to be connected to train real time information transmitting element existing on the locomotive by three strand shielding wires and 5 core aviation plug YP21ZJ9uQ, obtains the train current time of running of information in real time.The information of the information of communication unit record and calculating unit record can the text form be stored in the device disk, also can be by the USB interface unloading to external storage equipment.Device adopts the real-time control algorithm calculation optimization of train energy-saving run manipulation schemes, can provide the manipulation strategy of recommendation for the driver by curve, literal, voice mode, curve and literal are shown on 10.4 inches TFT high brightness chromatic liquid crystal screens of band control button.
A kind of diesel traction engine optimizing operation guiding device, software section adopts Object-Oriented Programming method, comprise following main modular: communication interface module, basic data library module, operation computing module and system outlet module, its structure as shown in Figure 1.
Communication interface module design adopts the RS-485 serial communication mode dynamically to read current time operation informations such as train running speed, position, locomotive operating mode, diesel engine speed, train tube pressure, front signal machine signal and train marshalling list every 50 milliseconds, and above-mentioned data are carried out fail-safe analysis.This module also comprises human-computer interaction interface, and the driver can select service direction and handle strategy etc. in this layout setting train target velocity, acquiescence handle position.
The basic data library module comprises locomotive data storehouse, vehicle data storehouse, track data storehouse and traction calculating manipulation experimental knowledge storehouse.
Wherein the locomotive data storehouse comprises curve of traction characteristics, braking characteristics curve, fuel characteristic curve, construction speed, calculated mass, startup tractive force, calculates information such as starting resistance, resistance equation parameter;
The vehicle data storehouse comprises information such as all types of vehicle length, deadweight, brake shoe type, friction coefficient of brake shoe, conversion friction coefficient, resistance equation parameter;
The track data storehouse comprises circuit ramp, curve, bridge, tunnel, station and information such as signal position and engineering speed limit, and system generates the plane vertical section figure and the station plan sketch of section automatically according to above-mentioned track data;
What traction calculating manipulation experimental knowledge stock was put is train handling principle, method and the outstanding driver manipulation experience on given circuit that train figure moves time-division, " train traction calculating rules " and " locomotive operation rules " regulation surely, these experiences and strategy can obtain suitable sign and utilization under the framework of Based Intelligent Control, can further enrich and the sophisticated systems algorithm, make it to be more suitable for actual running environment.Because system will take into account dissimilar railways, the completeness of basic data is an important symbol, and the basic data library module can in use constantly be safeguarded and expand.
The operation computing module is the nucleus module of system, mainly adopts the real-time control algorithm of train energy-saving run.
Communication interface module is gathered train current time operation information in real time, the operation computing module after with verification train current time operation information and the static stored information of basic data library module be condition, calculating is based on the optimization manipulation schemes of the current running environment of train, and this scheme is delivered to the system outlet module.
The system outlet module provides multiple output means by the special user that is designed to.The way of output mainly contains screen output, chopping machine/graph plotter output two big classes, and as requested, system also provides the way of output of analog result with the deposit of autocad file form.This module offer curves shows and how phonetic function changes manipulation schemes with the prompting driver, and in the train travelling process, device, display shows below information in real time:
1. move the minimum speed value curve of circuit permissible velocity, rolling stock constitution speed limit and temporary limit speed three in the 5km scope of the place ahead;
2. move Train Control mode confinement velocity curve in the 5km scope of the place ahead;
3. move the plan sketch at track plan curve, ramp, bridge, tunnel, signal position and show state, level crossing and station in the 5km distance of the place ahead;
4. the train running speed distance Curve, the locomotive operating mode handle distance of positions of moving the engine optimizing operation in the 5km distance of the place ahead are from curve;
A kind of method of diesel traction engine optimizing operation comprises the real-time control algorithm of train energy-saving run, specifically is expressed as follows:
The initialization of 1, train operation speed limit is calculated
The method that traditional traction zooming adopts examination to gather, be calculated to object point (as changing slope point or point station) according to current train speed and operating condition, if result of calculation does not satisfy the speed limit requirement, the requirement etc. of stopping, then return one or several calculation level and adopt other operating mode to rerun, till the data that obtain meet the demands.This algorithm calculates or works out the locomotive control scheme drawing automatically in general traction is feasible, but because need frequently return and rerun, and try and cut method also is not suitable for multiple row car operation simulation, locomotive control is instructed or automatic guidance in real time.
This algorithm carried out the initialization speed limit earlier and calculates before analogue computing, avoid returning reruning as far as possible.When train, must begin in the past to underspeed in the starting point of low speed limit, otherwise the situation of speed limit will occur surpassing during to low speed limit transition from high speed limit, the traction zooming before Here it is is return the reason of reruning.On the basis that has guaranteed safe operation, the variation from high speed limit to low speed limit also has material impact for the energy-saving run of train.Because the fundamental principle of train energy-saving run is exactly will avoid unnecessary braking speed governing as far as possible in operational process, the location of train operation variation from high speed limit to low speed limit through the speed limit curve, train should slow down in advance, low speed limit district is passed through in coasting or the traction of low handle position, otherwise just inevitable the employing braked speed governing.This algorithm has adopted at the anti-junction curve of calculating from high speed limit to low speed limit that push away of initial phase,
Specifically be expressed as follows:
(1) initialize: initial velocity v
0=v
Low, s
o=S
DV wherein
Low, S
DSpeed limit, low speed limit initial point kilometer post are hanged down in representative respectively;
(2) calculate train acceleration/accel a under the coasting operating mode, if a＞0, commentaries on classics (3) is if change (5) a≤0;
(3) if diesel locomotive has rheostatic brake, the acceleration/accel a of train under the calculated resistance damped condition, if a≤0, commentaries on classics (5), otherwise change (4); If diesel locomotive does not have rheostatic brake, change (4);
(4) the acceleration/accel a of train under the calculating air brake operating mode changes (5);
(5) step-length end speed v=v
0+ a Δ t, range ability
If v≤v
High, m_StartPos=s
0-s, m_Length=s, m_Lspeed=v
0, deposit the speed limit object in the speed limit object array, change (6); If v＞v
High, v=v
High,
M_Length=s, m_StartPos=s
0-s, m_Lspeed=v
0, deposit the speed limit object in the speed limit object array, change (7).Wherein, m_StartPos, m_Length, m_Lspeed represent each step-length starting point kilometer post, length and limited speed respectively;
(6)v
0＝v，s
0＝m_StartPos；
(7) calculating is finished.
Adjust when the calculating of 2, train operation target velocity is late early
The target velocity calculation procedure of train operation can be expressed as shown in Figure 2:
(1) calculates train average running speed V according to given range ability, running time T;
(2) be target velocity with V, train calculates according to energy saver mode, and the dry run time is T ';
(3) when time error that satisfy not set ', according to given range ability, dry run time T ' calculates train averaging analog running velocity T ' when the dry run time T;
(4) with
Be target velocity dry run again, satisfy till the time error of setting up to the dry run time.
Under multiple row car running environment, train runs into early late phenomenon through regular meeting in operational process.Because the change of running environment, chaufeur are difficult to accomplish both guaranteed train running on scheduled time operation, energy efficient again.This algorithm is guaranteeing train on safe and punctual basis, most possibly energy-saving run.If train is late more, policy-simulative when system adopts joint, otherwise, recover the train running on scheduled time operation by improving or reduce the target velocity of train operation.
3, the real-time control algorithm of train energy-saving run
(1) the economic handle position of establishment locomotive
By calculating the size of different handles position, can judge the economic handle position of certain model locomotive in the locomotive tractive effort of energy consumption of following unit time of same velocity conditions.Computing formula is as follows:
In the formula, F
iBe the tractive force of i handle position under a certain speed, N; φ
iBe the fuel consumption of i handle position in the following unit time of same speed, kg/min.
(mainly refer to the traction handle position) raising is totally on a declining curve down together, and promptly total efficiency of locomotive is in rising trend with the handle position for the fuel consumption rate of diesel locomotive.Because total efficiency of locomotive is a pair of contradiction with characteristic and its operation basic resistance characteristic that the handle position changes on locomotive traction operation oil consumption problem, use the position running under power of high handle just might make in suitable location and have more coasting operating mode in the train handling scheme, and may realize just that just because of the coasting operating mode that contains higher proportion train operation is energy-conservation.
(2) determine the method for locomotive handle position according to ramp and target velocity
Propose ramp controlled variable a and two notions in balance ramp at this, they all are that the controlled variable that the handle position changes is judged by system in each step-length.Ramp controlled variable computing formula is as follows:
In the formula, H1 and H2 are the absolute altitude of train operation section initial point and terminal point, and unit is a rice;
The balance ramp is meant the state of equilibrium down ramp value that calculates according to the current running velocity of train.Along with the raising of running velocity, the train operation basic resistance can increase, and the balance ramp also increases thereupon.
According to the balance ramp and the ramp controlled variable notion of foregoing description, this algorithm judges that in each step-length train operation operating mode, handle position and energy-conservation manipulation thereof adopt following principle:
1. as train equivalent gradient i during greater than ramp controlled variable a, pattern is carried out train operation control during according to joint.
2. when train equivalent gradient i smaller or equal to ramp controlled variable a during, if the current running velocity v of train is greater than the target velocity v of train more than or equal to balance ramp j
T, when current working is coasting, keep the coasting operating mode; When current working is traction, reduce the handle position.If the current running velocity v of train is less than the target velocity v of train
T, pattern is carried out train operation control during according to joint.
3. as train equivalent gradient i during, when current working is coasting, keep the coasting operating mode smaller or equal to ramp controlled variable a, also less than balance ramp j; When current working is traction, reduce the handle position.
(3) the definite initial algorithm in locomotive change working and handle position
This algorithm is at first according to locomotive operating mode and the handle position determined under when joint pattern, according to the energy-conservation method of operating of timing algorithm, train and the method for determining locomotive handle position according to ramp and target velocity, judge train should adopt under energy saver mode operating mode and handle position, it specifically describes as shown in Figure 3, and the locomotive change working need meet handle position transfer time and time length requirement.
(4) in the train travelling process before push away calculating
In the computation process of train operation, only judge the operating mode of the first locomotive of i+1 time step and the algorithm and the imperfection of handle position according to i time step information just.Therefore train is when each time step is judged operating mode and handle position, all should carry out pushing away calculating before certain.Be located at the beginning of i the time step speed v of train
i, operating mode and handle position C
i, target velocity v
T, the handle position C that calculates according to initial algorithm
I+1, operation speed limit v
MaxBefore push away calculating calculation process this down:
1) if the operating mode of current train is traction, calculates the handle position C that calculates according to initial algorithm
I+1If reduce handle position C
I+1＜C
i, change 5); If lifting handle position C
I+1＞C
i, change 2); If keep former handle position C
I+1=C
i, change 3);
2) with C
I+1Calculate for pushing away coasting before the handle position, if do not occur v＞v in the operational process
Max, i＜j or the (∩ (v＞v of j≤i≤a)
T) situation, change 5), otherwise change 3);
3) with C
iCalculate for pushing away coasting before the handle position, if do not occur v＞v in the operational process
Max, i＜j or the (∩ (v＞v of j≤i≤a)
T) situation, C
I+1=C
i, change 5), otherwise change 4);
4) the handle position need fall in i+1 the first train of time step, changes 6);
5) i+1 the first train handle position of time step is C
I+1, change 6);
6) calculate end.
V wherein
Max, i, j, a represent current speed limit, equivalent gradient, balance ramp and ramp controlled variable respectively.
This algorithm on when joint policy calculation result's basis, according to parameters such as balance ramp, target velocity to locomotive operating mode and handle position initially judge, the expert controls principle, push away calculatings before the train operation, calculate several different methods such as whether satisfying time length in conjunction with definite locomotive change working and handle position.
Beneficial effect of the present invention: a kind of method and guiding device that is applicable to the optimization locomotive control of China railways site environment is provided, and its advantage is: (1) algorithm moves fast and accurate and effective, is suitable for the Computer Simulation of high real-time requirement; (2) effective strong, the current operation information of device dynamic acquisition train shows that in real time speed-distance the manipulation in the train operation ahead 5km scope instructs curve, traction rotating speed-distance to handle and instruct curve etc.; (3) adopt human oriented design, can utilize literal, voice suggestion driver how to change manipulation schemes, and provide the optimization manipulation schemes of recovering running on time for late train; (4) take into full account site environment, have favorable actual application and be worth.
Description of drawings
Figure 1 shows that the system architecture scheme drawing;
Figure 2 shows that the calculation process scheme drawing of target velocity;
Figure 3 shows that the initial decision method scheme drawing in locomotive operating mode and handle position;
Figure 4 shows that the device human-computer interaction interface;
Figure 5 shows that circuit imports main interface;
Figure 6 shows that locomotive characteristic curve inputting interface;
Figure 7 shows that the information of vehicles inputting interface;
Figure 8 shows that device output shows scheme drawing.
The specific embodiment
In conjunction with the accompanying drawings embodiments of the present invention are done following detailed description:
Diesel traction engine optimizing operation guiding device main frame energized is that self-starting enters diesel traction engine optimizing operation guidance system human-computer interaction interface, as shown in Figure 4.System opens the serial communication unit automatically, dynamically reads information such as train running speed, position, locomotive operating mode, diesel engine speed, train tube pressure, front signal machine signal and train marshalling list and is shown on the human-computer interaction interface every 50 milliseconds.
Native system has more complete, an open-ended basic database system, its basic database comprises the two large divisions: the one, and the track data storehouse is used for importing the data message relevant with circuit: comprise circuit plane vertical section, signalling set, mileage information converting and station information etc.The 2nd, other data bank comprises locomotive, vehicle, train definition etc.As required, added new track data, locomotive data, train data etc. in the basic database in the past.
When needing the new circuit file of typing, to click " cancellation " button on the man-machine interface that when system's self-starting, ejects and enter main menu, " track data " under selection " basic data " catalogue is entry-line data typing master interface, as shown in Figure 5.
System has comprised most of locomotive and vehicle computing information, when novel locomotive or vehicle occurring, but the also relevant information of the new locomotive of typing or vehicle, its input interface is such as accompanying drawing 6,7 shown in.
The driver confirms train number successively, trailing weight, the train meter is long, heavy vehicle number, empty vehicle number, target velocity, acquiescence handle position, and after selecting information such as service direction and manipulation strategy, click " determining " button, system finishes the calculating initialization automatically, handle guidance program in line computation based on the train optimization of current running environment and condition, show the current manipulation strategy of train in real time, train speed limit curve (red line) in the 5km scope of the place ahead, train running speed instructs curve (green line) apart from optimizing to handle, the locomotive operating mode handle distance of positions instructs curve (yellow line) and circuit plane vertical section ramp from optimizing to handle, bridge, the tunnel, information such as signal position, as shown in Figure 8.When train is in late state, system recovers the optimization manipulation schemes that train running on scheduled time moves by the automatic compensation target velocity to provide, if late more, the driver can click " handling strategy " button and select " during joint " operating pattern, to recover the train running on scheduled time operation as far as possible.
Claims (2)
1. diesel traction engine optimizing operation guiding device, it is characterized in that comprising with
Lower module:
Adopt the RS-485 serial communication mode every 50 milliseconds of communication interface modules that dynamically read train running speed, position, locomotive operating mode, diesel engine speed, train tube pressure, front signal machine signal and train marshalling list current time operation information;
The basic data library module that comprises locomotive data storehouse, vehicle data storehouse, track data storehouse and traction calculating manipulation experimental knowledge storehouse;
Wherein the locomotive data storehouse comprises curve of traction characteristics, braking characteristics curve, fuel characteristic curve, construction speed, calculated mass, startup tractive force, calculates starting resistance, resistance equation parameter information;
The vehicle data storehouse comprises all types of vehicle length, deadweight, brake shoe type, friction coefficient of brake shoe, conversion friction coefficient, resistance equation parameter information;
The track data storehouse comprises circuit ramp, curve, bridge, tunnel, station and signal position and engineering speed-limiting messages, and system generates the plane vertical section figure and the station plan sketch of section automatically according to above-mentioned track data;
What traction calculating manipulation experimental knowledge stock was put is train handling principle, method and the outstanding driver manipulation experience on given circuit that train figure moves time-division, " train traction calculating rules " and " locomotive operation rules " regulation surely;
Adopt the operation computing module of the real-time control algorithm of train energy-saving run;
For providing train operation ahead in real time, the driver optimizes the system outlet module of manipulation schemes by demonstration and voice mode;
Communication interface module is gathered train current time operation information in real time, the operation computing module after with verification train current time operation information and the static stored information of basic data library module be condition, calculating is based on the optimization manipulation schemes of the current running environment of train, and this scheme is delivered to the output of system outlet module.
2. use the method for a kind of diesel traction engine optimizing operation of diesel traction engine optimizing operation guiding device according to claim 1, comprise the real-time control algorithm of described train energy-saving run, it is characterized in that:
In safety, on schedule, steadily under the constraint condition, improve the ratio of coasting operating mode in the train operation and the energy-conservation manipulation New Policy of locomotive that adopts economic handle position running under power method to combine in suitable location under the fluctuating slope condition according to new proposition as much as possible, designed a kind of according to balance ramp and target velocity parameter to locomotive operating mode and handle position initially judge, the expert controls principle, push away calculating before the train operation, whether calculating satisfies the real-time control algorithm that the time length several different methods combines;
The initial principle of judging in locomotive operating mode and handle position mainly comprises:
1. as train equivalent gradient i during greater than ramp controlled variable a, pattern is carried out train operation control during according to joint;
2. when train equivalent gradient i smaller or equal to ramp controlled variable a during, if the current running velocity v of train is greater than the target velocity v of train more than or equal to balance ramp j
T, when current working is coasting, keep the coasting operating mode; When current working is traction, reduce the handle position.If the current running velocity v of train is less than the target velocity v of train
T, pattern is carried out train operation control during according to joint;
3. as train equivalent gradient i during, when current working is coasting, keep the coasting operating mode smaller or equal to ramp controlled variable a, also less than balance ramp j; When current working is traction, reduce the handle position.
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| CN111824213A (en) * | 2019-04-18 | 2020-10-27 | 中车株洲电力机车研究所有限公司 | Automatic driving method and system for heavy-duty locomotive |
| CN112078631B (en) * | 2020-08-31 | 2022-08-12 | 通号城市轨道交通技术有限公司 | Train speed control method and system |
| CN112340047B (en) * | 2020-10-20 | 2022-06-28 | 燕山大学 | Straight track-based automatic ship-based helicopter traction device and method |
| CN114044028B (en) * | 2021-09-27 | 2024-04-30 | 交控科技股份有限公司 | Engineering train control method and device, electronic equipment and storage medium |
-
2008
- 2008-01-22 CN CN2008100565571A patent/CN101214819B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484441B (en) * | 2018-11-29 | 2021-04-02 | 中车长春轨道客车股份有限公司 | Single-handle constant-speed setting method for motor train unit train |
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