Braking system and method for fusion control

Abstract

A brake system and method for fusion control, the system comprising: a plurality of brake actuators, a gateway and a plurality of fusion machines; the fusion machines are in communication connection with the brake actuators through the gateway, the fusion machines receive vehicle control information and vehicle basic information sent by the brake actuators, and obtain vehicle braking force according to the vehicle control information and the vehicle basic information according to a preset first safety completeness level; the brake actuators receive the vehicle braking force sent by the fusion machines, convert the vehicle braking force into brake cylinder pressure or motor current according to a preset second safety completeness level, and perform vehicle braking control by using the brake cylinder pressure or the motor current. The application is suitable for an integrated electronic and electrical architecture of a railway vehicle, a brake system method and architecture for fusion integrated control, which not only meets the requirements of vehicle fusion control, but also reduces the cost of the brake system, and is suitable for different brake system systems such as hydraulic brake, air brake and electromechanical brake on the railway vehicle.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and more particularly to a braking system and method for integrated control. Background Technology

[0002] Currently, rail transit braking systems generally employ microcomputer-controlled direct-drive electro-pneumatic braking, microcomputer-controlled hydraulic braking, and line-controlled electromechanical braking. Furthermore, based on the control method, they are divided into vehicle-controlled and bogie-controlled systems. Vehicle-controlled braking systems have one braking control device per car to control the braking of a single car. Bogie-controlled braking systems have two braking control devices per car, each controlling the braking of one bogie. They generally possess functions such as service braking, emergency braking, anti-skid control, and brake management.

[0003] Currently, braking control systems all employ a distributed control approach. Each vehicle or bogie is equipped with a Braking Control Unit (BCU), which includes a drive actuation section and an Electronic Control Unit (EBCU). The EBCU is further divided into several electronic boards based on their functional modules. Each board performs a specific function. These include various functional boards such as digital input / output boards, analog input / output boards, Ethernet or MVB communication boards, main control boards, load weighing boards, and anti-skid control boards.

[0004] With the current trends of integration, intelligence, networking, and software-defined vehicles in rail vehicles, the current braking system is no longer suitable for the integrated electronic and electrical architecture of current vehicles. In vehicles with integrated electronic and electrical architecture, the braking system has the following problems: (1) Redundant I / O modules, complex cable deployment for connecting the braking system and the vehicle, high cost of cables and electrical connectors, and increased maintenance workload and difficulty; (2) Numerous boards in the electronic control unit, large size, and high hardware cost; (3) Software changes frequently with project requirements, large development workload, difficulty in standardization and modularization, and difficulty in decoupling software and hardware. Summary of the Invention

[0005] In view of the problems existing in the prior art, the main objective of the embodiments of the present invention is to provide a braking system and method for fusion control, which meets the requirements of vehicle fusion control and reduces the cost of the braking system.

[0006] To achieve the above objectives, embodiments of the present invention provide a braking system for fusion control, the system comprising: multiple braking actuators, a gateway, and multiple fusion units;

[0007] The fusion unit communicates with the braking actuator through a gateway. The fusion unit receives vehicle control information and basic vehicle information sent by the braking actuator, and obtains the vehicle braking force according to the preset first safety integrity level and the vehicle control information and basic vehicle information.

[0008] The braking actuator receives the vehicle braking force sent by the fusion unit, converts the vehicle braking force into brake cylinder pressure or motor current according to the preset second safety integrity level, and uses the brake cylinder pressure or motor current to control vehicle braking.

[0009] Optionally, in one embodiment of the present invention, the vehicle control information includes vehicle control commands, vehicle status information, and electric braking force information.

[0010] Optionally, in one embodiment of the present invention, the basic vehicle information includes vehicle reference speed, vehicle load information, and isolation status information.

[0011] Optionally, in one embodiment of the present invention, the braking actuator includes an emergency weighing module for obtaining the vehicle's emergency braking force or emergency motor current based on the vehicle's load information; wherein the vehicle's emergency braking force and emergency motor current are used for emergency braking of the vehicle.

[0012] Optionally, in one embodiment of the present invention, the braking actuator further includes an anti-skid protection module for collecting vehicle speed and performing vehicle skidding monitoring and protection based on the vehicle speed and vehicle reference speed.

[0013] Optionally, in one embodiment of the present invention, the fusion machine includes a braking force distribution module, used to calculate the vehicle braking force corresponding to each vehicle based on vehicle control information and vehicle basic information.

[0014] Optionally, in one embodiment of the present invention, the braking actuator further includes a network communication module, which is communicatively connected to the gateway and is used to send basic vehicle information to the fusion unit and receive vehicle braking force sent by the fusion unit.

[0015] This invention also provides a braking method for fusion control, the method comprising:

[0016] Receive vehicle control information and basic vehicle information sent by the braking actuator;

[0017] According to the preset first safety integrity level, the vehicle braking force is obtained based on the vehicle control information and basic vehicle information, so that the braking actuator can use the vehicle braking force to control the vehicle braking.

[0018] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described method.

[0019] The present invention also provides a computer-readable storage medium storing a computer program that performs the above-described methods by a computer.

[0020] The present invention also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the above-described method.

[0021] This invention is applicable to the integrated electronic and electrical architecture of rail vehicles, and is a braking system method and architecture for integrated control. It not only meets the requirements of vehicle integrated control, but also greatly reduces the cost of the braking system. At the same time, it is applicable to some different braking system systems such as hydraulic braking, air braking and electromechanical braking on rail vehicles. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a braking system for fusion control according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the braking actuator in an embodiment of the present invention;

[0025] Figure 3 This is a flowchart of a braking method for fusion control according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0027] This invention provides a braking system and method for fusion control.

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] like Figure 1The diagram shows a schematic representation of a braking system for fusion control according to an embodiment of the present invention. The execution entity of the braking system for fusion control provided in this embodiment includes, but is not limited to, a computer. This invention is applicable to the integrated electronic and electrical architecture of rail vehicles. The braking system method and architecture for fusion integrated control not only meet the requirements of vehicle fusion control but also significantly reduce the cost of the braking system. It is also applicable to different braking system types on rail vehicles, such as hydraulic braking, air braking, and electromechanical braking. The system shown in the figure includes: multiple braking actuators, a gateway, and multiple fusion units.

[0030] The fusion unit communicates with the braking actuator through a gateway. The fusion unit receives vehicle control information and basic vehicle information sent by the braking actuator, and obtains the vehicle braking force according to the preset first safety integrity level and the vehicle control information and basic vehicle information.

[0031] The braking actuator receives the vehicle braking force sent by the fusion unit, converts the vehicle braking force into brake cylinder pressure or motor current according to the preset second safety integrity level, and uses the brake cylinder pressure or motor current to control vehicle braking.

[0032] The braking system for fusion control is divided into two layers: the perception and decision-making layer and the execution layer. The perception and decision-making layer, also known as the system management unit (BMU), mainly includes functions such as deceleration and braking force calculation, coordination between the traction system's electric braking and the BCU's braking, overall train braking force distribution, coordination between the traction system's electric braking and the BCU's anti-slip mechanism, brake holding control, braking experiments and self-testing scheduling, reference speed calculation, wheel diameter correction, air compressor control, brake control parameter configuration, and comprehensive fault diagnosis. It is located on the vehicle domain controller (vehicle-level domain controller) responsible for fusion functions. Two vehicle-level fusion domain controllers are configured on the entire train as primary backups, or one can be configured per car. The execution layer, also known as the local control layer, or brake actuator (BAU), mainly includes local control functions such as emergency weighing, emergency braking, brake pressure control, anti-slip control, and fault diagnosis and self-testing. It is located on the vehicle-level brake actuator unit.

[0033] Furthermore, the braking actuator communicates with the gateway via Ethernet (ETH).

[0034] Furthermore, the functional safety design of the braking system for integrated control strictly follows the requirements of multiple standards. According to the standard requirements, the functional levels of the entire braking system are divided as shown in Table 1 below.

[0035] Table 1 Security Integrity Requirements

[0036]

[0037] Under this safety and integrity requirement, the functional safety design of the braking system for fusion control is shown in Table 2 below.

[0038] Table 2 Functional Safety Design

[0039]

[0040]

[0041] The emergency weighing module is configurable and is configured when using an air braking system, but not when using hydraulic or electromechanical braking. Vehicle load information is preferentially received from the train via the network. If the network fails, the braking actuator will default to the previously received load information, while also adhering to SIL level requirements.

[0042] The entire system is functionally partitioned for safety, concentrating SIL3 (Second Safety Integrity Level) functions in the braking actuator, while SIL2 (First Safety Integrity Level) functions are concentrated in the BMU, i.e., the fusion control unit. Therefore, the functional safety design of the braking system for fusion control ensures the system's safety requirements.

[0043] As an embodiment of the present invention, the vehicle control information includes vehicle control commands, vehicle status information, and electric braking force information.

[0044] Among them, vehicle control commands, vehicle status information, and electric braking force information can be sent to the fusion unit by on-board sensors, on-board central control system, etc.

[0045] As an embodiment of the present invention, the basic vehicle information includes vehicle reference speed, vehicle load information, and isolation status information.

[0046] Among them, vehicle reference speed, vehicle load information and isolation status information can be collected by the braking actuator through sensors or other functional modules.

[0047] In this embodiment, as Figure 2 As shown, the braking actuator includes an emergency weighing module (EW module), which is used to obtain the vehicle's emergency braking force or emergency motor current based on the vehicle's load information; wherein, the vehicle's emergency braking force and emergency motor current are used for the vehicle's emergency braking.

[0048] The process of obtaining the vehicle's emergency braking force or emergency motor current based on the vehicle's load information adopts a conventional method and will not be described in detail here.

[0049] In this embodiment, as Figure 2As shown, the braking actuator also includes an anti-skid protection module (WSP module), which is used to collect vehicle speed and perform vehicle skidding monitoring and protection based on vehicle speed and vehicle reference speed.

[0050] Among them, vehicle coasting monitoring and control are performed based on vehicle speed and vehicle reference speed. Specifically, the process of vehicle coasting monitoring and vehicle coasting control adopts conventional methods, which will not be described in detail here.

[0051] As an embodiment of the present invention, the fusion machine includes a braking force distribution module, which is used to calculate the vehicle braking force corresponding to each vehicle based on vehicle control information and vehicle basic information.

[0052] The specific calculation process for calculating the vehicle braking force corresponding to each vehicle using vehicle control information and basic vehicle information adopts a conventional calculation method and will not be elaborated here.

[0053] As an embodiment of the present invention, such as Figure 2 As shown, the braking actuator also includes a network communication module (NC module). The network communication module is connected to the gateway and is used to send basic vehicle information to the fusion unit and receive various vehicle information such as vehicle braking force sent by the fusion unit.

[0054] The network communication module can use Ethernet to communicate with the gateway.

[0055] The braking system architecture for vehicle fusion control in this invention not only meets the integration requirements of vehicle fusion control, but also greatly reduces the hardware cost of the braking system, reduces the workload of software development, realizes modular standardization and hardware-software decoupling, and improves the real-time control performance of the braking system.

[0056] In a specific embodiment of the present invention, such as Figure 2 The braking actuator shown includes: a power supply module (PWR module), a digital input module (DI module), a network communication module (NC module), an anti-skid protection module (WSP module), an electronic braking module (EB module), an emergency weighing module (EW module), and an actuator. Specifically, the actuator can be a hydraulic / pneumatic valve body / motor driver, etc.

[0057] In this embodiment, the common braking force distribution module in the fusion machine receives vehicle control commands, vehicle status, electric braking force and other signals, as well as information such as reference speed, vehicle load and isolation status of each frame or vehicle received through the network, and calculates the air braking force that each BAU needs to apply.

[0058] Furthermore, the signal is transmitted to the Braking Actuator (BAU) via the NC backbone network. The BAU, based on the braking force sent by the fusion unit, converts it into brake cylinder pressure or motor current via the EB braking module for normal braking control output. It also performs closed-loop control on the converted brake cylinder pressure or the required motor current. When the NC backbone network fails, the BAU uses the safety train lines (traction, braking, emergency traction, remote release, etc.) collected by the DI module to perform braking and release in the corresponding mode.

[0059] The emergency braking process involves the emergency weighing module calculating the required emergency braking pressure or motor current for the vehicle's load each time it stops. The BAU then receives the emergency braking command (which can be issued manually or by the vehicle's central control system). The command line directly controls the output of the emergency braking pressure or motor current to the actuator for independent emergency braking.

[0060] Furthermore, anti-skid protection (WSP) is performed by the WSP module in the BAU based on the speed it collects and the vehicle's reference speed to monitor, protect, and control skid.

[0061] Furthermore, the PWR module is a power supply module that provides different voltage power supplies to the entire BAU unit.

[0062] This invention is applicable to the integrated electronic and electrical architecture of rail vehicles, and is a braking system method and architecture for integrated control. It not only meets the requirements of vehicle integrated control, but also greatly reduces the cost of the braking system. At the same time, it is applicable to some different braking system systems such as hydraulic braking, air braking and electromechanical braking on rail vehicles.

[0063] like Figure 3 The diagram shows a flowchart of a braking method for fusion control according to an embodiment of the present invention. The method shown in the diagram includes:

[0064] Step S1: Receive vehicle control information and basic vehicle information sent by the braking actuator;

[0065] Step S2: According to the preset first safety integrity level, the vehicle braking force is obtained based on the vehicle control information and basic vehicle information, so that the braking actuator can use the vehicle braking force to perform vehicle braking control.

[0066] Based on the same concept as the aforementioned braking system for fusion control, this invention also provides a braking method for fusion control. Since the principle by which this braking method for fusion control solves the problem is similar to that of the braking system for fusion control, the implementation of this braking method for fusion control can be found in the implementation of the braking system for fusion control, and will not be repeated here.

[0067] This invention is applicable to the integrated electronic and electrical architecture of rail vehicles, and is a braking system method and architecture for integrated control. It not only meets the requirements of vehicle integrated control, but also greatly reduces the cost of the braking system. At the same time, it is applicable to some different braking system systems such as hydraulic braking, air braking and electromechanical braking on rail vehicles.

[0068] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described method.

[0069] The present invention also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the above-described method.

[0070] The present invention also provides a computer-readable storage medium storing a computer program that performs the above-described methods by a computer.

[0071] like Figure 4 As shown, the electronic device 600 may also include: a communication module 110, an input unit 120, an audio processor 130, a display 160, and a power supply 170. It is worth noting that the electronic device 600 does not necessarily need to include these components. Figure 4 All components shown; in addition, the electronic device 600 may also include Figure 4 For components not shown, please refer to existing technology.

[0072] like Figure 4 As shown, the central processing unit 100, sometimes also referred to as a controller or operating control, may include a microprocessor or other processor device and / or logic device. The central processing unit 100 receives inputs and controls the operation of various components of the electronic device 600.

[0073] The memory 140 may be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It may store the aforementioned failure-related information, and also store a program for executing that information. The central processing unit 100 may execute the program stored in the memory 140 to perform information storage or processing, etc.

[0074] Input unit 120 provides input to central processing unit 100. Input unit 120 may be, for example, a keypad or touch input device. Power supply 170 provides power to electronic device 600. Display 160 displays images and text. Display may be, for example, an LCD display, but is not limited thereto.

[0075] The memory 140 can be a solid-state memory, such as a read-only memory (ROM), random access memory (RAM), a SIM card, etc. It can also be a memory that retains information even when power is off, can be selectively erased, and contains more data; examples of this type of memory are sometimes referred to as EPROMs. The memory 140 can also be some other type of device. The memory 140 includes a buffer memory 141 (sometimes referred to as a buffer). The memory 140 may include an application / function storage unit 142 for storing application programs and function programs or processes for executing the operation of the electronic device 600 via the central processing unit 100.

[0076] The memory 140 may also include a data storage unit 143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 144 of the memory 140 may include various drivers for the electronic device's communication functions and / or for performing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0077] The communication module 110 is a transmitter / receiver 110 that transmits and receives signals via antenna 111. The communication module (transmitter / receiver) 110 is coupled to the central processing unit 100 to provide input signals and receive output signals, which can be the same as in a conventional mobile communication terminal.

[0078] Based on different communication technologies, multiple communication modules 110 can be configured in the same electronic device, such as cellular network modules, Bluetooth modules, and / or wireless LAN modules. The communication module (transmitter / receiver) 110 is also coupled to a speaker 131 and a microphone 132 via an audio processor 130 to provide audio output via the speaker 131 and receive audio input from the microphone 132, thereby enabling typical telecommunications functions. The audio processor 130 may include any suitable buffer, decoder, amplifier, etc. Additionally, the audio processor 130 is coupled to a central processing unit 100, enabling on-device recording via the microphone 132 and on-device playback of stored audio via the speaker 131.

[0079] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0080] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0081] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0082] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0083] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A braking system for fusion control, characterized in that, The system includes: multiple braking actuators, a gateway, and multiple fusion machines; The fusion unit is communicatively connected to the braking actuator through the gateway. The fusion unit receives vehicle control information and basic vehicle information sent by the braking actuator, and obtains the vehicle braking force according to the preset first safety integrity level, based on the vehicle control information and the basic vehicle information. The braking actuator receives the vehicle braking force sent by the fusion machine, converts the vehicle braking force into brake cylinder pressure or motor current according to the preset second safety integrity level, and uses the brake cylinder pressure or the motor current to control vehicle braking. The basic vehicle information includes vehicle reference speed, vehicle load information, and isolation status information; the braking actuator includes an emergency weighing module, used to obtain the vehicle's emergency braking force or emergency motor current based on the vehicle load information; wherein, the vehicle's emergency braking force and emergency motor current are used for vehicle emergency braking; the emergency weighing module calculates the emergency braking pressure required by the vehicle load or the current required by the motor each time the vehicle stops, and then the braking actuator (BAU) collects the emergency braking command, and the command line directly controls the output of the emergency braking pressure or the current required by the motor to the actuator for independent emergency braking; The braking system for fusion control is divided into two layers: a perception and decision layer and an execution layer. The perception and decision layer, also known as the system management unit (BMU), mainly includes functions such as deceleration and braking force calculation, coordination between the electric braking of the traction system and the braking of the BCU, distribution of braking force across the entire train, coordination between the electric braking of the traction system and the anti-slip function of the BCU, brake holding control, braking experiment and self-test scheduling, reference speed calculation, wheel diameter correction, air compressor control, brake control parameter configuration, and comprehensive fault diagnosis. These functions are located on the vehicle-level fusion domain controller, i.e., the fusion unit, which undertakes the fusion function. Two vehicle-level fusion domain controllers are configured on the entire train as primary backups, or one per car. The execution layer, also known as the local control layer, i.e., the brake actuator (BAU), mainly includes local control functions such as emergency weighing, emergency braking, brake pressure control, anti-slip control, and fault diagnosis and self-test. These functions are located on the vehicle-level brake actuator unit. The entire system is divided into safety zones, with the functions of the second safety integrity level concentrated in the braking actuator, while the functions of the first safety integrity level are concentrated in the BMU, i.e., the fusion machine.

2. The system according to claim 1, characterized in that, The vehicle control information includes vehicle control commands, vehicle status information, and electric braking force information.

3. The system according to claim 1, characterized in that, The braking actuator also includes an anti-skid protection module, which is used to collect vehicle speed and perform vehicle skidding monitoring and protection based on the vehicle speed and the vehicle reference speed.

4. The system according to claim 1, characterized in that, The fusion machine includes a braking force distribution module, which is used to calculate the vehicle braking force corresponding to each vehicle based on the vehicle control information and the vehicle basic information.

5. The system according to claim 1, characterized in that, The braking actuator also includes a network communication module, which is communicatively connected to the gateway and is used to send basic vehicle information to the fusion unit and receive vehicle braking force sent by the fusion unit.

6. A braking method for fusion control, applied to the system as described in any one of claims 1-5, characterized in that, The method includes: Receive vehicle control information and basic vehicle information sent by the braking actuator; According to the preset first safety integrity level, the vehicle braking force is obtained based on the vehicle control information and the vehicle basic information, so that the braking actuator can use the vehicle braking force to perform vehicle braking control.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of claim 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that enables a computer to execute the method of claim 6.

9. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method of claim 6.

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