A rail vehicle and its wheel-rail anti-skid control method, device and medium

Abstract

The present application discloses a rail vehicle and a wheel-rail anti-skid control method, device and medium thereof, which relate to the field of rail vehicle braking and are used to improve the wheel slip problem. Aiming at the problem that the effect of the current wheel-rail adhesion improvement scheme is insufficient, a rail vehicle wheel-rail anti-skid control method is provided, which obtains the shaft speed information of each shaft through a speed sensor, locates the target shaft where the wheel slip occurs, determines the severity of the wheel slip, and determines the amount of sand spread by a sand spreader accordingly; further, controls the brake cylinder pressure through an anti-skid valve to improve the wheel slip situation, and controls the sand spreader to perform the sand spreading action according to the above-determined sand spreading amount, thereby realizing the coordinated cooperation between the anti-skid system and the sand spreading system in the rail vehicle. Compared with the method of fixing the sand spreading amount of the sand spreader in the traditional scheme, the sand spreading control of this scheme is more flexible and the sand spreading effect is better.

Description

Technical Field

[0001] The present application relates to the technical field of rail vehicle braking, and in particular to a rail vehicle and a wheel-rail anti-skid control method, device, and medium thereof. Background Art

[0002] In rainy, snowy weather, or when there is oil or dirt on the railway tracks, the available wheel-rail adhesion will be reduced, causing the wheels of rail vehicles to slip. In severe cases, this may lead to wheel-rail abrasions and loss of braking force, affecting driving safety.

[0003] In current rail vehicles, a common solution is to improve wheel-rail adhesion by configuring a sanding system and an anti-skid system. The anti-skid system controls the pressure of the train brake cylinder to improve the sliding depth between the wheel and rail to prevent wheel locking. At the same time, the sanding system will spread sand on the track surface, using the sand to increase the adhesion coefficient between the wheel and rail, thereby improving the braking effect.

[0004] However, in the above-mentioned braking scheme, the anti-skid system and the sand spreading system work relatively independently. The two work simultaneously but without coordination. The sand spreader performs a fixed amount of sand spreading action each time it performs the sand spreading action. When the amount of sand spreading is insufficient, the improvement effect of wheel slip is not obvious. When the amount of sand spreading is too much, not only is sand wasted, but the normal running of the rail vehicle is also affected by the excessive sand spreading. Therefore, the improvement effect of this braking scheme on the sliding problem of rail vehicles still needs to be improved.

[0005] Therefore, technicians in this field are in urgent need of a rail vehicle wheel-rail anti-skid control method to solve the problem that the current wheel-rail adhesion improvement solution is not effective enough. Summary of the invention

[0006] The purpose of the present application is to provide a rail vehicle and a wheel-rail anti-skid control method, device, and medium thereof, so as to solve the problem that the current wheel-rail adhesion improvement solution is not effective enough.

[0007] In order to solve the above technical problems, the present application provides a rail vehicle wheel-rail anti-skid control method, comprising:

[0008] Axle speed information is obtained through speed sensors arranged on each axle of the rail vehicle;

[0009] According to the shaft speed information, the shaft where the wheel slips is located as the target shaft; and the corresponding sand spreading instruction is generated according to the shaft speed information;

[0010] The pressure of the corresponding brake cylinder is controlled by the anti-skid valve according to the shaft speed information, and the sand spreader is controlled to perform the corresponding sand spreading action according to the sand spreading instruction.

[0011] On the other hand, the corresponding sand spreading instructions are generated according to the shaft speed information, including:

[0012] Determine the actual speed of the rail vehicle at the current moment according to the axle speed information;

[0013] Determine the coasting speed according to the actual vehicle speed and the shaft speed information of the target shaft;

[0014] Determine the required sand spreading amount according to the sliding speed to generate a corresponding sand spreading instruction;

[0015] Among them, the amount of sand spread and the sliding speed are positively linearly correlated.

[0016] On the other hand, after controlling the pressure of the brake cylinder corresponding to the target shaft through the anti-skid valve according to the shaft speed information and controlling the sand spreader to perform the corresponding sand spreading action according to the sand spreading instruction, the method further includes:

[0017] Determine whether the sliding speed corresponding to the target axis changes;

[0018] If there is a change, the corresponding sand spreading instruction is regenerated according to the changed sliding speed to control the sand spreader to perform the corresponding sand spreading action;

[0019] If it does not change, the amount of sand spreading is increased to regenerate the corresponding sand spreading instruction, and the sand spreader is controlled to perform the corresponding sand spreading action.

[0020] On the other hand, the required amount of sanding is determined according to the sliding speed including:

[0021] According to the sliding speed, the amount of sand spreading is determined by a prediction model pre-trained with historical data.

[0022] On the other hand, a sand spreader is respectively arranged on each axle of the rail vehicle.

[0023] On the other hand, for each shaft, a sand spreader is disposed on both sides of the shaft.

[0024] On the other hand, before controlling the pressure of the brake cylinder corresponding to the target shaft through the anti-skid valve according to the shaft speed information and controlling the sand spreader to perform the corresponding sand spreading action according to the sand spreading instruction, it also includes:

[0025] Determine whether the actual speed of the rail vehicle at the current moment is greater than a first preset threshold, and whether the coasting speed is less than or equal to a second preset threshold;

[0026] If any of the conditions is not satisfied, the process proceeds to the step of controlling the pressure of the brake cylinder corresponding to the target shaft through the anti-skid valve according to the shaft speed information, and controlling the sand spreader to perform the corresponding sand spreading action according to the sand spreading instruction;

[0027] If all conditions are met, the sand spreader is controlled to perform the corresponding sand spreading action according to the sand spreading instruction.

[0028] In order to solve the above technical problems, the present application also provides a rail vehicle wheel-rail anti-skid control device, comprising:

[0029] An acquisition module, used for acquiring shaft speed information through speed sensors arranged on each shaft of the rail vehicle;

[0030] A determination module is used to determine whether wheel slip occurs according to the shaft speed information, and locate the shaft where wheel slip occurs as the target shaft; and generate a corresponding sand spreading instruction according to the shaft speed information;

[0031] The control module is used to control the pressure of the brake cylinder corresponding to the target shaft through the anti-skid valve according to the shaft speed information, and control the sand spreader to perform the corresponding sand spreading action according to the sand spreading instruction.

[0032] In order to solve the above technical problems, the present application also provides a rail vehicle, comprising:

[0033] Memory for storing computer programs;

[0034] The processor is used to implement the steps of the above-mentioned rail vehicle wheel-rail anti-skid control method when executing the computer program.

[0035] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned rail vehicle wheel-rail anti-skid control method are implemented.

[0036] The present application provides a rail vehicle wheel-rail anti-skid control method, which obtains the shaft speed information of each shaft by means of speed sensors arranged on each shaft of the rail vehicle, so as to determine whether the wheels corresponding to each shaft are slipping; if so, the target shaft where the wheel is slipping can be located according to the difference between the shaft speed information of the shaft where the wheel is slipping and that of other shafts; at the same time, the severity of the wheel slip can also be known according to the shaft speed information of the target shaft, and the amount of sand spread by the sand spreader is determined according to the shaft speed information and a corresponding sand spreading instruction is generated; further, the brake cylinder pressure of the target shaft is controlled through the anti-skid valve according to the shaft speed information, so as to improve the wheel slip condition and avoid wheel locking, and according to the sand spreading instruction determined above, the sand spreader is controlled to execute the sand spreading action of spreading the corresponding amount of sand, so as to realize the coordinated cooperation between the anti-skid system and the sand spreading system in the rail vehicle, and the sand spreader can obtain the sliding condition of the rail vehicle through the anti-skid system, so as to realize the quantitative sand spreading action. Compared with the independent working mode of the sand spreader with a fixed sand spreading amount in the current common scheme, the sand spreading control is more flexible and can adapt the sand spreading amount according to the actual wheel sliding conditions. Thus, while ensuring the improvement effect of the vehicle-rail adhesion coefficient, it is not easy to waste sand or cause excessive sand spreading to affect the normal operation of the rail vehicle.

[0037] The rail vehicle wheel-rail anti-skid control device, rail vehicle and computer-readable storage medium provided in the present application correspond to the above method and have the same effects as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 A flow chart of a rail vehicle wheel-rail anti-skid control method provided by the present invention;

[0040] Figure 2 A schematic diagram of a rail vehicle system architecture provided by the present invention;

[0041] Figure 3 A speed curve diagram of a rail vehicle during a certain operation provided by the present invention;

[0042] Figure 4 An electrical schematic diagram of a rail vehicle system architecture provided by the present invention;

[0043] Figure 5 A structural diagram of a rail vehicle wheel-rail anti-skid control device provided by the present invention;

[0044] Figure 6 A schematic structural diagram of a rail vehicle provided by the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] The core of the present application is to provide a rail vehicle and a wheel-rail anti-skid control method, device and medium thereof.

[0047] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0048] In current rail vehicles, there are a variety of braking strategies, such as the strategy of applying brakes to each axle through a brake cylinder. According to the different pressures in the brake cylinder, different braking forces are applied to the axles or wheels of the rail vehicle to achieve the braking control of the rail vehicle. In addition, there are other braking systems such as parking brakes. The parking brake system of a rail vehicle is similar to the handbrake system of a car, which uses springs and other mechanical hardware to achieve parking brakes by limiting the movement of wheels.

[0049] As can be seen from the above, among the many braking schemes and systems used by rail vehicles, most of them achieve braking by limiting wheel movement. However, in the actual operation of rail vehicles, there is still a dangerous situation of slippage between wheels and tracks. When the railway track is in rainy and snowy weather, oil stains are attached, etc., the available wheel-rail adhesion coefficient is reduced, which may cause the rail vehicle wheels to slip. In severe cases, it may even cause wheel-rail scratches and loss of braking force, affecting driving safety.

[0050] It can be seen from this that when the wheel slips, braking by limiting the wheel movement not only cannot guarantee the braking effect, but may even make the wheel slip worse.

[0051] At present, the solutions available for improving the wheel slippage of rail vehicles are mainly implemented through the anti-skid system and the sand spreading system to improve the wheel slippage.

[0052] The control unit in the anti-skid system detects the shaft speed through the speed sensor to determine whether each shaft is slipping. If slipping occurs, the pressure in the brake cylinder is controlled through the anti-skid valve to avoid excessive braking force on the wheel, which may lead to worsening of the slipping situation. In addition, the sand spreader spreads sand on the track surface, and the sand spread increases the adhesion coefficient between the wheel and the track, thereby improving the slipping of the wheel.

[0053] The current anti-skid system is mainly based on axle control, that is, each axle has a corresponding speed sensor and anti-skid valve to control the anti-skid of the rail vehicle. The sand spreader in the sand spreading system is mostly set at the first guide shaft in the running direction of the rail vehicle, that is, generally a sand spreader is set on the guide shafts at both ends of the rail vehicle. When the rail vehicle is traveling in one direction and sand is needed, the sand spreader located at the frontmost guide shaft will spread the sand, and the sand spread will increase the adhesion coefficient between the rail and all subsequent wheels to improve the wheel slip problem.

[0054] In addition, the current anti-skid system and sand-spreading system are both controlled by the upper-level control unit in the train and are independent of each other. The sand-spreading system spreads a fixed amount of sand each time the sand-spreading action is triggered according to the pre-set sand-spreading amount.

[0055] The above solution does not coordinate the two systems for improving the wheel slip problem well, so that the overall anti-skid effect still has room for further improvement. In addition, the implementation scheme of the fixed sand spreading amount of the sand spreader cannot adapt well to the different wheel slip conditions that may occur in the actual operation of the rail vehicle, the sand spreading effect cannot be guaranteed, and the problem of excessive sand spreading may occur.

[0056] In order to solve the above problems, the present application provides a rail vehicle wheel-rail anti-skid control method, such as Figure 1 As shown, including:

[0057] S11: Obtain shaft speed information through speed sensors installed on each shaft of the rail vehicle.

[0058] S12: Locate the axle where the wheel slips according to the axle speed information as the target axle; and generate a corresponding sand spreading instruction according to the axle speed information.

[0059] S13: According to the shaft speed information, the pressure of the corresponding brake cylinder is controlled through the anti-skid valve, and at the same time, the sand spreader is controlled to perform the corresponding sand spreading action according to the sand spreading instruction.

[0060] For the implementation of step S11, Figure 2 The actual system architecture diagram of a rail vehicle shown in the figure takes a four-axle rail vehicle as an example. Speed ​​sensors are arranged on the four axes for detecting the axis speeds of the axes.

[0061] Step S12 is implemented by two parallel sub-steps:

[0062] S121: Locate the axle where the wheel slip occurs as the target axle according to the axle speed information.

[0063] S122: Generate a corresponding sand spreading instruction according to the shaft speed information.

[0064] The two parallel steps are independent and can be performed simultaneously without any restrictions on the order of precedence.

[0065] For step S121, the rotation speed of the wheel on the axle can be known according to the axle speed information of each axle, and the linear speed of the wheel can be determined according to the rotation speed. By comparing the linear speed of each wheel with the actual running speed of the rail vehicle, it can be determined whether each wheel is slipping, and the wheel (the axle where the wheel is located) whose linear speed is different from the actual speed of the rail vehicle is the target wheel (target axle).

[0066] It is easy to understand that the linear speed of the wheel that is slipping should be different from the actual running speed of the rail vehicle, and the size of this difference reflects the severity of the wheel slip problem. In practical applications, the severity of wheel slip is generally characterized by the slip speed or slip depth. The slip speed can be obtained by subtracting the actual running speed of the rail vehicle and the linearity of the wheel.

[0067] In addition, it is easy to know that sanding is used to increase the adhesion coefficient between the wheel and the rail. The effect of increasing the adhesion coefficient increases with the increase in the amount of sanding, which is a positive correlation and can usually be considered to be linear. Based on the above, this embodiment provides a more specific implementation scheme for step S122, including:

[0068] Determine the actual speed of the rail vehicle at the current moment according to the axle speed information;

[0069] Determine the coasting speed according to the actual vehicle speed and the shaft speed information of the target shaft;

[0070] Determine the required sand spreading amount according to the sliding speed to generate a corresponding sand spreading instruction;

[0071] Among them, the amount of sand spread and the sliding speed are positively linearly correlated.

[0072] like Figure 3 The figure shows the wheel speed curve of a rail vehicle during a certain operation. Figure 3 It can be seen that, in most of the time, the sliding speed of axis 1 is greater than the sliding speed of axis 2. From the above, it can be determined that the amount of sanding performed on axis 2 should be greater than that performed on axis 1.

[0073] Furthermore, after determining that the amount of sand spreading and the sliding speed are positively linearly correlated, the historical data such as the amount of sand spreading used at a certain sliding speed during the historical operation of the rail vehicle and the sliding improvement after the sand spreading action (such as the change in sliding speed) can be used to train a prediction model with the sliding speed as input, the amount of sand spreading as output, and the sliding speed dropping to zero after the sand spreading action is executed through deep learning algorithms and other methods. This model can then be used to determine the amount of sand spreading in the actual operation of the rail vehicle and further ensure the anti-skid effect of the wheels.

[0074] On the other hand, similar to the above step S12, step S13 is also implemented by two parallel sub-steps, including:

[0075] S131: Control the pressure of the corresponding brake cylinder through the anti-skid valve according to the shaft speed information.

[0076] S132: Controlling the sand spreader to perform a corresponding sand spreading action according to the sand spreading instruction.

[0077] The two sub-steps are used for controlling the anti-skid system and the sand spreading system respectively, and are independent of each other and can be executed in parallel. To ensure the timeliness and effectiveness of the anti-skid control, the two sub-steps S131 and S132 are generally performed simultaneously, like the above step S13.

[0078] As for the specific control implementation scheme of sub-steps S131 and S132, it can be seen from the above that the anti-skid system controls the pressure of the brake cylinder based on the shaft speed information obtained by the speed sensor set on each shaft, which is a common anti-skid control scheme at present, so how to control the pressure of the brake cylinder through the anti-skid valve according to the shaft speed information is not repeated in this embodiment. In addition, as for sub-step S132, it can be seen from the above that the sanding instruction includes the amount of sanding required for this sanding action, and there is a corresponding relationship between the amount of sanding and the target shaft, so the target shaft that needs to perform the sanding action and the amount of sanding required for this sanding action can be determined according to the sanding instruction, thereby realizing sanding control.

[0079] It should also be noted that, since the sand spreading action of the sand spreader in the method provided in the present application needs to rely on the shaft speed information obtained by the speed sensor in the anti-skid system, data communication is required between the anti-skid system and the sand spreading system. Figure 2 A rail vehicle system architecture is shown, and this embodiment also provides an electrical schematic diagram, such as Figure 4 As shown, the sand spreading system includes: a sand spreading control unit 11 and a sand spreader 12 (1-8); the anti-skid system includes: an anti-skid control unit 21, a speed sensor 22 and an anti-skid valve 23 (corresponding to shafts 1-4 respectively).

[0080] The sand spreading control unit is connected to each sand spreader to control the sand spreaders arranged on both sides of each shaft to perform sand spreading. The anti-skid control unit is connected to each speed sensor and each anti-skid valve to control the corresponding anti-skid valve according to the shaft speed information returned by the speed sensor to adjust the pressure in the brake cylinder. In addition, there is also a communication connection between the sand spreading control unit and the anti-skid control unit to achieve the coordinated work between the two systems, that is, to achieve the purpose of the sand spreading system determining the amount of sand spreading according to the shaft speed information obtained by the speed sensor.

[0081] It should be noted that this embodiment does not restrict the execution subject of step S122 and the data exchanged between the sand-spreading control unit and the anti-skid control unit. That is, step S122 can be implemented in the sand-spreading control unit, and the data sent by the anti-skid control unit to the sand-spreading control unit is the shaft speed information of each axis. Similarly, step S122 can also be implemented in the anti-skid control unit, and the data transmitted by the anti-skid control unit to the sand-spreading control unit is the sand-spreading amount required for this sand-spreading action or the sand-spreading instruction determined in step S122.

[0082] It should also be noted that in rail vehicles, there are devices such as train network units for communication between the hardware modules of the entire vehicle. Therefore, for data communication between the anti-skid control unit and the sand spreading control unit, there is no need to add additional communication equipment or communication links, and it can be implemented based on the existing rail vehicle communication structure.

[0083] Furthermore, based on the above-mentioned cooperation between the anti-skid system and the sand spreading system to achieve wheel anti-skid improvement, this embodiment also provides a preferred implementation scheme, and the above-mentioned method further includes:

[0084] S14: Determine whether the sliding speed corresponding to the target axis changes. If so, go to step S15; if not, go to step S16.

[0085] S15: Regenerate a corresponding sand spreading instruction according to the changed sliding speed to control the sand spreader to perform a corresponding sand spreading action.

[0086] S16: increasing the amount of sand spreading to regenerate a corresponding sand spreading instruction, and controlling the sand spreader to perform a corresponding sand spreading action.

[0087] That is, this embodiment provides a solution for adjusting the subsequent sanding amount according to the wheel anti-skid improvement effect after the sanding action is performed. Specifically, it can be seen from the above that the sliding speed of the wheel can characterize the current degree of wheel sliding. Therefore, after executing a sanding action (i.e., sanding at a specific sanding speed for a period of time), it is determined whether the wheel sliding speed has changed; if it does not change, it means that the wheel sliding has not improved, and the sanding amount should be appropriately increased for subsequent sanding actions; if it changes, the corresponding sanding instruction is regenerated according to the changed sliding speed to perform subsequent sanding actions; specifically, when the sliding speed increases, it means that the previously determined sanding amount is insufficient and the sanding amount needs to be increased; when the sliding speed decreases, it means that the previously determined sanding amount can improve the wheel sliding problem, but considering the problem of excessive sanding that may occur later, the subsequent sanding amount should be reduced.

[0088] This embodiment achieves coordinated cooperation between the sand spreading system and the anti-skid system through communication between the two. Therefore, after each sand spreading action is performed, the wheel slip improvement effect after the sand spreading action can be learned from the speed sensor in the anti-skid system, and the sand spreading amount of the next sand spreading action can be adjusted specifically to achieve more flexible, accurate and reliable wheel anti-skid control.

[0089] The present application provides a rail vehicle wheel-rail anti-skid control method, through the communication connection established between the anti-skid system and the sand spreading system, the axle speed information obtained by the speed sensor in the anti-skid system is directly or indirectly obtained by the sand spreading system, so that the sand spreading system can adjust the sand spreading amount to perform the sand spreading action according to the sliding conditions of different wheels on different axles of the rail vehicle. This anti-skid solution implemented by the coordinated cooperation of the two systems can effectively solve the problem that the current sand spreading amount is fixed and not flexible enough, better guarantee and improve the wheel sliding improvement effect, and also avoid the occurrence of excessive sand spreading, save sand, increase the effective working time of the sand spreader, and also avoid the risk of damage to the wheel and rail due to excessive sand spreading, and affecting the normal driving of the rail vehicle.

[0090] Further, such as Figure 2 As shown, this embodiment also provides a preferred implementation scheme for the arrangement of the above-mentioned sand spreader: a sand spreader is respectively arranged on each axle of the rail vehicle.

[0091] Figure 2 Taking a four-axle rail vehicle as an example, in the current common sand spreading system setting scheme, the sand spreader is mostly set on the first guide axis in the direction of vehicle movement. Figure 2 The four axes of the rail vehicle are based on the left and right (relative Figure 2 The first guide axis is axis 1 and axis 4, and to ensure that the sand can be spread on all wheels, the sand spreader is set on the outside of axis 1 and axis 4, that is, on the left side of axis 1 and on the right side of axis 4. Therefore, in the existing sand spreading system setting scheme, there should be only Figure 2 There are sand spreaders set at the positions of sand spreader 1 and sand spreader 8 in the figure, and when the rail vehicle travels to the left, only sand spreader 1 works, and when the rail vehicle travels to the right, only sand spreader 8 works.

[0092] Considering the problem that the above arrangement of the sand spreader is not effective in improving the wheel slippage, this embodiment provides the above implementation scheme, where a sand spreader is arranged on each axle, but the number of sand spreaders is not limited, and the side of the axle on which the sand spreader is arranged is not limited, and different axles can also be provided with different numbers of sand spreaders. However, to ensure the sand spreading effect, if only one sand spreader is arranged on the axle, it is arranged on the axle side close to the moving direction of the rail vehicle.

[0093] The setting of multiple sand spreaders can further ensure the improvement effect of sanding on wheel slip problems. Moreover, based on the above-mentioned rail vehicle wheel-rail anti-skid control method, it can be known that under the coordinated cooperation of the sand spreading system and the anti-skid system, the sand spreading system can locate the wheel slip problem on a specific axle. Therefore, based on the sand spreaders set on each axle, sand can be spread on the axle to better ensure the sand spreading effect and reduce the impact on other wheels that have not slipped. For example Figure 2As shown, when the rail vehicle travels to the left, the wheel slip occurs on axle 2, causing the sand spreader 3 to perform a sand spreading action, which will not affect the wheel on axle 1.

[0094] Furthermore, in order to adapt to different possible driving directions of rail vehicles, such as Figure 2 As shown, this embodiment also provides a preferred solution for further disposing a sand spreader: for each shaft, a sand spreader is respectively disposed on both sides of the shaft.

[0095] It is easy to know that for the control of the sand spreaders on both sides of each axis, when the sand spreading action needs to be performed, only the sand spreader on the side close to the moving direction of the rail vehicle will be in action.

[0096] It should also be noted that the setting of the above-mentioned axle-controlled sand spreader can better ensure the sand spreading effect, so that the sand spreading system can be further expanded to anti-skid treatment in parking brake scenarios. Since the wheels are restricted from moving by hardware structures such as springs during parking brakes of rail vehicles, the above-mentioned anti-skid system cannot be used to assist in improving the wheel slip problem. That is, the traditional wheel slip improvement strategy jointly implemented by the anti-skid system and the sand spreading system is no longer valid, and the anti-skid effect cannot be guaranteed by only setting the sand spreader on the first guide shaft.

[0097] The preferred setting scheme of the sand spreader provided in this embodiment is to provide a sand spreader on each axle, so that the improvement effect of the sand spreading system on wheel slippage based on axle control is more guaranteed, which can meet the need for wheel anti-skid in parking brake scenarios and further broaden the application scenarios.

[0098] On the other hand, based on the preferred arrangement scheme of a sand spreader provided in the above embodiment, the sand spreading system has a more significant improvement effect on the anti-skid of the wheel. This embodiment also provides a possible implementation scheme. Before step S13, the above method further includes:

[0099] S17: Determine whether the actual speed of the rail vehicle at the current moment is greater than the first preset threshold, and whether the coasting speed is less than or equal to the second preset threshold; if any condition is not met, execute step S131 and step S132 at the same time; if both conditions are met, execute step S132.

[0100] That is, based on the premise that the above embodiment provides a sand spreader on each axle to improve the ability of the sand spreading system to improve wheel slippage, this embodiment further determines according to the sliding speed of the wheel and the current actual speed of the rail vehicle:

[0101] When the actual vehicle speed is greater than the first preset threshold, and the sliding speed is less than or equal to the second preset threshold, it is considered that the current wheel slip problem is relatively not serious, and the improvement effect can be ensured only by the sand spreading system.

[0102] When the actual vehicle speed is less than or equal to the first preset threshold, or the sliding speed is greater than the second preset threshold, it is considered that the current wheel slip problem is relatively serious and needs to be improved through the coordinated work of the sand spreading system and the protection system.

[0103] It should be noted that the above judgment conditions for whether the wheel slip problem is improved only by the sand spreading system or by the coordinated work of the sand spreading system and the protection system are determined according to the demand for wheel anti-slip improvement during actual rail vehicle driving:

[0104] In actual applications, the greater the wheel slip speed, the more serious the wheel slip problem is, and it is generally expected to improve the wheel slip as soon as possible. Therefore, when the slip speed is greater than the first preset threshold, the sand spreading system and the protection system need to work together to improve the wheel slip problem.

[0105] The smaller the actual speed of the rail vehicle, the closer the wheel is to a locked state at the same wheel slip speed, which is not desirable in a rail vehicle. Therefore, when the actual speed of the rail vehicle is less than or equal to the second preset threshold, the sand spreading system and the protection system need to work together to improve the wheel slip problem.

[0106] Only when the above two conditions are not met, it means that the expectation for improving the wheel slip problem is relatively not urgent, and it can be achieved through the sand spreading device provided at each shaft provided by the above embodiment, thereby realizing a more flexible wheel anti-skid control strategy.

[0107] In the above embodiment, a rail vehicle wheel-rail anti-skid control method is described in detail, and the present application also provides a corresponding embodiment of a rail vehicle wheel-rail anti-skid control device. It should be noted that the present application describes the embodiments of the device part from two perspectives, one is based on the functional module perspective, and the other is based on the hardware perspective.

[0108] Based on the perspective of functional modules, this embodiment provides a rail vehicle wheel-rail anti-skid control device, such as Figure 5 As shown, including:

[0109] An acquisition module 31 is used to acquire shaft speed information through speed sensors arranged on each shaft of the rail vehicle;

[0110] The determination module 32 is used to determine whether wheel slip occurs according to the shaft speed information, and locate the shaft where the wheel slip occurs as the target shaft; and generate a corresponding sand spreading instruction according to the shaft speed information;

[0111] The control module 33 is used to control the pressure of the brake cylinder corresponding to the target shaft through the anti-skid valve according to the shaft speed information, and control the sand spreader to perform the corresponding sand spreading action according to the sand spreading instruction.

[0112] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0113] Figure 6 A structural diagram of a rail vehicle provided in another embodiment of the present application, such as Figure 6 As shown, a rail vehicle comprises: a memory 41 for storing a computer program;

[0114] The processor 42 is used to implement the steps of a rail vehicle wheel-rail anti-slip control method as described in the above embodiment when executing a computer program, and specifically may be a train control unit (VCU) in a rail vehicle.

[0115] Among them, the processor 42 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 42 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 42 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 42 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 42 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0116] The memory 41 may include one or more computer-readable storage media, which may be non-transitory. The memory 41 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 41 is at least used to store the following computer program 411, wherein, after the computer program is loaded and executed by the processor 42, it can implement the relevant steps of a rail vehicle wheel-rail anti-skid control method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 41 may also include an operating system 412 and data 413, etc., and the storage method may be short-term storage or permanent storage. Among them, the operating system 412 may include Windows, Unix, Linux, etc. Data 413 may include, but is not limited to, a rail vehicle wheel-rail anti-skid control method, etc.

[0117] In some embodiments, a rail vehicle may further include a sand spreading system 10 , an anti-skid system 20 , a display screen 43 , a power system 44 , and a communication bus 45 .

[0118] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation of a rail vehicle, and may include more or fewer components than shown.

[0119] A rail vehicle provided in an embodiment of the present application includes a memory and a processor. When the processor executes a program stored in the memory, it can implement the following method: a rail vehicle wheel-rail anti-skid control method.

[0120] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.

[0121] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0122] The above is a detailed introduction to a rail vehicle and its wheel-rail anti-skid control method, device, and medium provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0123] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A rail vehicle wheel-rail anti-skid control method, characterized in that: include: Axle speed information is obtained through speed sensors arranged on each axle of the rail vehicle; According to the shaft speed information, the shaft where the wheel slip occurs is located as the target shaft; and generating a corresponding sand spreading instruction according to the shaft speed information; wherein generating the corresponding sand spreading instruction according to the shaft speed information includes: determining the actual vehicle speed of the rail vehicle at the current moment according to the shaft speed information; determining the sliding speed according to the actual vehicle speed and the shaft speed information of the target shaft; determining the required sand spreading amount according to the sliding speed to generate the corresponding sand spreading instruction; wherein the sand spreading amount and the sliding speed are positively linearly correlated; Controlling the pressure of the corresponding brake cylinder through the anti-skid valve according to the shaft speed information, and controlling the sand spreader to perform the corresponding sand spreading action according to the sand spreading instruction; Determining whether the sliding speed corresponding to the target axis changes; If a change occurs, the corresponding sand spreading instruction is regenerated according to the changed sliding speed to control the sand spreader to perform the corresponding sand spreading action; wherein, if the sliding speed increases, the sand spreading amount is increased, and if the sliding speed decreases, the sand spreading amount is reduced; If it does not change, then the sand spreading amount is increased to regenerate the corresponding sand spreading instruction, and the sand spreading device is controlled to perform the corresponding sand spreading action; Wherein, determining the required amount of sand spreading according to the sliding speed includes: According to the gliding speed, the sand spreading amount is determined by a prediction model pre-trained by historical data; the historical data includes: the sand spreading amount used at a certain gliding speed, and the change in gliding speed after the sand spreading action is performed; the prediction model is trained by a deep learning algorithm, with the gliding speed as input, the sand spreading amount as output, and the gliding speed dropping to zero after the sand spreading action is performed as the goal.

2. The rail vehicle wheel-rail anti-slip control method according to claim 1, characterized in that: The sand spreader is respectively arranged on each of the axles of the rail vehicle.

3. The rail vehicle wheel-rail anti-slip control method according to claim 2, characterized in that: For each of the shafts, the sand spreaders are respectively arranged on both sides of the shaft.

4. The rail vehicle wheel-rail anti-slip control method according to claim 3, characterized in that: Before controlling the pressure of the brake cylinder corresponding to the target shaft through the anti-skid valve according to the shaft speed information and controlling the sand spreader to perform the corresponding sand spreading action according to the sand spreading instruction, the method further includes: Determining whether the actual vehicle speed of the rail vehicle at the current moment is greater than a first preset threshold, and whether the coasting speed is less than or equal to a second preset threshold; If any of the conditions is not satisfied, the process proceeds to the step of controlling the pressure of the brake cylinder corresponding to the target shaft through the anti-skid valve according to the shaft speed information, and controlling the sand spreader to perform the corresponding sand spreading action according to the sand spreading instruction; If all conditions are met, the sand spreader is controlled to perform the corresponding sand spreading action according to the sand spreading instruction.

5. A rail vehicle wheel-rail anti-slip control device, characterized in that: include: An acquisition module, used for acquiring shaft speed information through speed sensors arranged on each shaft of the rail vehicle; A determination module, configured to determine whether wheel slip occurs according to the shaft speed information, and locate the shaft where wheel slip occurs as a target shaft; Generate a corresponding sand spreading instruction according to the shaft speed information; wherein generating the corresponding sand spreading instruction according to the shaft speed information includes: determining the actual vehicle speed of the rail vehicle at the current moment according to the shaft speed information; determining the sliding speed according to the actual vehicle speed and the shaft speed information of the target shaft; determining the required sand spreading amount according to the sliding speed to generate the corresponding sand spreading instruction; wherein the sand spreading amount and the sliding speed are positively linearly correlated; A control module, used for controlling the pressure of the brake cylinder corresponding to the target shaft through an anti-skid valve according to the shaft speed information, and controlling the sand spreader to perform a corresponding sand spreading action according to the sand spreading instruction; Wherein, after controlling the pressure of the brake cylinder corresponding to the target shaft through the anti-skid valve according to the shaft speed information and controlling the sand spreader to perform the corresponding sand spreading action according to the sand spreading instruction, it also includes: Determining whether the sliding speed corresponding to the target axis changes; If a change occurs, the corresponding sand spreading instruction is regenerated according to the changed sliding speed to control the sand spreader to perform the corresponding sand spreading action; wherein, if the sliding speed increases, the sand spreading amount is increased, and if the sliding speed decreases, the sand spreading amount is reduced; If it does not change, then the sand spreading amount is increased to regenerate the corresponding sand spreading instruction, and the sand spreading device is controlled to perform the corresponding sand spreading action; Wherein, determining the required amount of sand spreading according to the sliding speed includes: According to the gliding speed, the sand spreading amount is determined by a prediction model pre-trained by historical data; the historical data includes: the sand spreading amount used at a certain gliding speed, and the change in gliding speed after the sand spreading action is performed; the prediction model is trained by a deep learning algorithm, with the gliding speed as input, the sand spreading amount as output, and the gliding speed dropping to zero after the sand spreading action is performed as the goal.

6. A rail vehicle, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the rail vehicle wheel-rail anti-slip control method as described in any one of claims 1 to 4 when executing the computer program.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the rail vehicle wheel-rail anti-slip control method according to any one of claims 1 to 4 are implemented.

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