Train sanding control method and vehicle

Abstract

The application provides a train sanding control method and a vehicle. The method comprises the following steps: calculating wheel set deceleration and wheel set deceleration differential value in real time during train braking; when the anti-skid activation signal is set in N1 periods, controlling the sanding device to sand at a first sanding pressure; when the wheel set deceleration meets a preset condition in N1 periods, generating an adaptive sanding control instruction according to the wheel set deceleration and the wheel set deceleration differential value, and controlling the sanding device to sand adaptively according to the adaptive sanding control instruction; in the adaptive sanding control process, acquiring train wheel-rail friction and target braking force in real time; adjusting the adaptive sanding control instruction according to the train wheel-rail friction and the target braking force, and controlling the sanding device to sand by using the adjusted sanding control instruction. The application can accurately sand, quickly restore wheel-rail adhesion, and reduce the sanding amount.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of train braking technology, and in particular to a train sanding control method and a vehicle. BACKGROUND

[0002] When the track adhesion coefficient is reduced due to rain, snow, oil stains, fallen leaves or other reasons, the train will slide or idle, which seriously affects the safety of train operation. In order to prevent wheel abrasion, a sanding system is provided on the railway vehicle, and the sanding is performed on the wheel-rail contact surface of the train to improve the adhesion coefficient between the wheel and the rail.

[0003] The sanding device provided on the existing train performs sanding in a manual or automatic manner, and the sanding is performed when the brake control unit and the traction control unit detect air brake sliding or electric brake sliding. The sanding pressure is related to the current speed of the train, and when the vehicle speed is below the set speed, a low sanding pressure is used, and when the vehicle speed is above the set speed, a high sanding pressure is used. By setting different sanding pressures, the sanding efficiency of the vehicle is improved, and the sand is uniformly sanding between the wheel and the rail.

[0004] However, the existing sanding control method determines the sanding amount according to the vehicle speed, which is not related to the degree of train sliding or idling, and is prone to problems of being unable to quickly eliminate vehicle sliding and sanding waste. SUMMARY

[0005] The embodiments of the present application provide a train sanding control method and a vehicle to solve the problem of being unable to quickly eliminate vehicle sliding and sanding waste in the prior art.

[0006] In a first aspect, the embodiments of the present application provide a train sanding control method, comprising:

[0007] During the train braking process, the wheelset deceleration and the wheelset deceleration differential value are calculated in real time;

[0008] When the anti-skid activation signal is set in N1 cycles, the sanding device is controlled to sand at a first sanding pressure, and N1 is a positive integer;

[0009] When the wheelset deceleration meets the preset condition in N1 cycles, an adaptive sanding control instruction is generated according to the wheelset deceleration and the wheelset deceleration differential value, and the sanding device is controlled to perform adaptive sanding according to the adaptive sanding control instruction;

[0010] During the adaptive sanding control process, the train wheel-rail friction force and the target braking force are acquired in real time;

[0011] The adaptive sanding control instruction is adjusted according to the train wheel-rail friction force and the target braking force, and the sanding device is controlled to sand by using the adjusted sanding control instruction.

[0012] In a possible implementation, when the wheelset deceleration meets a preset condition in N1 periods, the sanding device is controlled to perform adaptive sanding according to the wheelset deceleration and a wheelset deceleration differential value, including:

[0013] When the wheelset deceleration is continuously decreasing in N1 periods, the sanding device is controlled to perform adaptive sanding according to the wheelset deceleration and a wheelset deceleration differential value;

[0014] Or when the wheelset deceleration increases in N1 periods and stops increasing, the sanding device is controlled to perform adaptive sanding according to the wheelset deceleration and a wheelset deceleration differential value.

[0015] In a possible implementation, the adaptive sanding control instruction is generated according to the wheelset deceleration and the wheelset deceleration differential value, and the sanding device is controlled to perform adaptive sanding according to the adaptive sanding control instruction, including:

[0016] In each period, if the wheelset deceleration is greater than or equal to a first deceleration value, a first sanding control instruction is generated to control the sanding device to sand at a first sanding pressure;

[0017] If the wheelset deceleration is less than or equal to a lower deceleration limit value, a second sanding control instruction is generated to control the sanding device to sand at a second sanding pressure, the second sanding pressure being greater than the first sanding pressure;

[0018] If the wheelset deceleration is greater than the lower deceleration limit value and less than the first deceleration value, a corresponding sanding control instruction is generated according to the wheelset deceleration differential value to control the sanding device to perform adaptive sanding.

[0019] In a possible implementation, the corresponding sanding control instruction is generated according to the wheelset deceleration differential value to control the sanding device to perform adaptive sanding, including:

[0020] When the wheelset deceleration differential value is less than a lower deceleration differential value or greater than an upper deceleration differential value, a second sanding control instruction is generated to control the sanding device to sand at a second sanding pressure;

[0021] When the wheelset deceleration differential value is greater than or equal to the lower deceleration differential value and less than or equal to the upper deceleration differential value, a pressure maintaining curve and an adaptive pressure reducing curve are set, and a corresponding sanding control instruction is determined according to a relationship between the wheelset deceleration differential value and the pressure maintaining curve and the adaptive pressure reducing curve respectively to control the sanding device to perform adaptive sanding.

[0022] In a possible implementation, when the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to the upper limit of the deceleration differential value, a pressure maintaining curve and an adaptive pressure reducing curve are set, and corresponding sanding control instructions are determined according to the relationship between the wheelset deceleration differential value and the pressure maintaining curve and the adaptive pressure reducing curve respectively, to control the sanding device to perform adaptive sanding, including:

[0023] When the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to the upper limit of the deceleration differential value, corresponding pressure maintaining curves and corresponding adaptive pressure reducing curves are set according to the wheelset deceleration differential value;

[0024] When the wheelset deceleration is less than or equal to the corresponding pressure maintaining curve, a pressure increasing control instruction is generated to control the sanding device to increase the sanding pressure on the basis of the current sanding pressure;

[0025] When the wheelset deceleration is greater than the corresponding pressure maintaining curve and less than or equal to the corresponding adaptive pressure reducing curve, a pressure maintaining control instruction is generated to control the sanding device to maintain the current sanding pressure for sanding, and the corresponding adaptive pressure reducing curve is controlled to be adaptively adjusted to increase the pressure maintaining control region;

[0026] When the wheelset deceleration is greater than the corresponding adaptive pressure reducing curve, a pressure reducing control instruction is generated to control the sanding device to reduce the sanding pressure on the basis of the current sanding pressure, and the corresponding adaptive pressure reducing curve is controlled to be adaptively adjusted to increase the pressure reducing control region.

[0027] In a possible implementation, when the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to zero, the corresponding pressure maintaining curve is a1=-ka1'-b, and the corresponding adaptive pressure reducing curve is a1=-cotβa1'-b, cotβ>k;

[0028] When the wheelset deceleration differential value is greater than zero and less than or equal to the upper limit of the deceleration differential value, the corresponding pressure maintaining curve is a2=ka2'-b, and the corresponding adaptive pressure reducing curve is a2=cotβa2'-b, cotβ>k;

[0029] In the formula, a1 represents the wheelset deceleration when the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to zero, a2 represents the wheelset deceleration when the wheelset deceleration differential value is greater than zero and less than or equal to the upper limit of the deceleration differential value, k represents the slope of the pressure maintaining curve, a1' represents the wheelset deceleration a1 differential value, a2' represents the wheelset deceleration a2 differential value, b represents a parameter, cotβ represents the slope of the adaptive pressure reducing curve, and β represents the angle corresponding to the slope of the adaptive pressure reducing curve.

[0030] In a possible implementation, the control increases the sanding pressure of the sanding device based on the current sanding pressure, including:

[0031] The increased sanding pressure is determined according to p'=p+Δp, wherein p' represents the increased sanding pressure, p represents the current sanding pressure, and Δp represents the sanding pressure increase value;

[0032] The corresponding adaptive pressure reduction curve is adaptively adjusted, and the pressure maintaining control region is increased, including:

[0033] The adaptively adjusted adaptive pressure reduction curve is determined according to β'=β-Δβ, wherein β' represents the angle corresponding to the slope of the adaptively adjusted adaptive pressure reduction curve, and Δβ represents the angle change value corresponding to the slope of the adaptive pressure reduction curve;

[0034] The control reduces the sanding pressure of the sanding device based on the current sanding pressure, and simultaneously controls the adaptive adjustment of the corresponding adaptive pressure reduction curve to increase the pressure reduction control region, including:

[0035] The reduced sanding pressure is determined according to p''=p-Δp / 3, wherein p'' represents the increased sanding pressure;

[0036] The adaptively adjusted adaptive pressure reduction curve is determined according to β''=β+Δβ, wherein β'' represents the angle corresponding to the slope of the adaptively adjusted adaptive pressure reduction curve.

[0037] In a possible implementation, the train wheel-rail friction force is obtained, including:

[0038] The train brake cylinder pressure value and the wheelset angular velocity are obtained;

[0039] The brake torque is calculated according to the brake cylinder pressure value;

[0040] The train wheel-rail friction force is calculated according to the wheelset angular velocity and the brake torque.

[0041] In a possible implementation, the adaptive sanding control instruction is adjusted according to the train wheel-rail friction force and the target braking force, including:

[0042] When the train wheel-rail friction force is less than the target braking force, the adaptive sanding control instruction remains unchanged;

[0043] When the train wheel-rail friction force is greater than or equal to the target braking force, the pressure increase control instruction is replaced by the pressure maintaining control instruction.

[0044] In a second aspect, an embodiment of the present application provides a vehicle, comprising a controller, the controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the train sanding control method according to the first aspect or any possible implementation of the first aspect when executing the computer program.

[0045] The embodiment of the present application provides a train sanding control method and a vehicle. When the anti-skid activation signal is set, the sanding device is controlled to sand at a first sanding pressure. When the wheel set deceleration meets a preset condition, the adaptive sanding control stage is entered. Adaptive sanding control instructions are generated according to the wheel set deceleration and the wheel set deceleration differential value. The sanding device is controlled to perform adaptive sanding according to the adaptive sanding control instructions, so that precise sanding is realized, and the wheel-rail adhesion is quickly restored. In the adaptive sanding process, the adaptive sanding control instructions are adjusted according to the train wheel-rail friction and the target braking force, and the sanding device is controlled to sand by using the adjusted sanding control instructions, so that the sanding amount can be reduced, the interference on the detection signal on the track can be reduced, the maintenance cost can be reduced, and the train operation safety can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0047] Figure 1 is an implementation flowchart of the train sanding control method provided by the embodiment of the present application;

[0048] Figure 2 is a schematic diagram of the adhesion characteristic curve under the creep condition provided by the embodiment of the present application;

[0049] Figure 3 is an implementation flowchart of the train sanding control method provided by another embodiment of the present application;

[0050] Figure 4 is a wheel set deceleration differential schematic diagram provided by the embodiment of the present application;

[0051] Figure 5 is a wheel set deceleration differential schematic diagram provided by another embodiment of the present application;

[0052] Figure 6 is a structure schematic diagram of the train sanding control device provided by the embodiment of the present application;

[0053] Figure 7 is a schematic diagram of the controller provided by the embodiment of the present application. Detailed Implementation

[0054] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0055] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0056] Figure 1 This is a flowchart illustrating the implementation of a train sand-spreading control method according to an embodiment of the present invention. The train sand-spreading control method in this embodiment is divided into an initial stage and an adaptive control stage. The adaptive control stage includes two parts: adaptive sand-spreading control based on deceleration and sand-spreading control based on target braking force matching. In the initial stage, low-pressure sand-spreading is activated. Under certain conditions, the adaptive control stage begins by adaptively outputting sand-spreading control commands based on deceleration, and then adjusts the sand-spreading control commands based on target braking force matching to achieve train sand-spreading control.

[0057] The train sand-spreading control method is detailed below:

[0058] Step 101: During the train braking process, calculate the wheelset deceleration and the differential value of the wheelset deceleration in real time.

[0059] Deceleration is a fundamental quantity in physics, governing the motion of an object in accordance with acceleration, velocity, and displacement. It refers to the change in momentum during the conversion of momentum into velocity, and is the opposite of acceleration, representing the deceleration of the object. Deceleration can be expressed as... in, It is the rate of change of the object's velocity.

[0060] The differential value of wheelset deceleration is the derivative of wheelset deceleration with respect to time, denoted by a'.

[0061] During train braking, the slip ratio can be calculated in real time, representing the degree of train slip. The slip ratio can be expressed as... Among them, V 车 represents vehicle speed, and v represents wheel speed.

[0062] Step 102: When the anti-slip activation signal is set within N1 cycles, control the sand spreading device to spread sand at the first sand spreading pressure, where N1 is a positive integer.

[0063] When the train is determined to be sliding according to the wheelset deceleration, the wheelset deceleration differential value and the slip ratio, the anti-skid activation signal is set, indicating that the wheelset is sliding and entering the initial sanding control stage.

[0064] In the initial sanding control stage, low-pressure sanding is activated, and the output sanding pressure is P1, i.e., the first sanding pressure can be P1. Since the train is just starting to slide at this time, low-pressure sanding is used to ensure the safety of the vehicle and reduce the amount of sanding. It should be noted that the specific value of the first sanding pressure can be set according to actual needs, and in this embodiment, the value of the first sanding pressure is not limited. For example, the value of the first sanding pressure can be 250kPa, 270kPa, 280kPa, etc.

[0065] Step 103, when the wheelset deceleration meets the preset condition within N1 periods, generating an adaptive sanding control instruction according to the wheelset deceleration and the wheelset deceleration differential value, and controlling the sanding device to perform adaptive sanding according to the adaptive sanding control instruction.

[0066] After activating low-pressure sanding in the initial stage, the change of the wheelset deceleration with the slip ratio is determined, and the adaptive control stage is entered according to the wheelset deceleration.

[0067] The adhesion coefficient increases under some track conditions during the change of the slip ratio, such as Figure 2 As shown in the adhesion characteristic curve diagram under the creep condition, the horizontal coordinate is the slip ratio, and the vertical coordinate is the adhesion coefficient. After sliding occurs, as the slip ratio increases or decreases, the adhesion coefficient may increase, and the increase in the adhesion coefficient is reflected in the increase in the wheelset deceleration. Therefore, after activating low-pressure sanding in the initial stage, if the wheelset deceleration is always decreasing within N1 periods, the adaptive control stage is entered, and if the wheelset deceleration increases within N1 periods, the adaptive control stage is entered when the wheelset deceleration no longer increases, so as to fully utilize the adhesion change characteristics of the wheel and rail.

[0068] In an embodiment, when the wheelset deceleration meets the preset condition within N1 periods, the sanding device is controlled to perform adaptive sanding according to the wheelset deceleration and the wheelset deceleration differential value, which can include:

[0069] When the wheelset deceleration is always decreasing within N1 periods, the sanding device is controlled to perform adaptive sanding according to the wheelset deceleration and the wheelset deceleration differential value;

[0070] Or when the wheelset deceleration increases within N1 periods and the wheelset deceleration stops increasing, the sanding device is controlled to perform adaptive sanding according to the wheelset deceleration and the wheelset deceleration differential value.

[0071] It should be noted that the value of N1 can be set according to actual needs, for example, N1 is 10.

[0072] After entering the adaptive control stage, first, the adaptive sanding control based on the wheelset deceleration is performed. In the adaptive sanding control based on the wheelset deceleration, the adaptive sanding control instruction is generated according to the wheelset deceleration and the region where the wheelset deceleration differential is located, and the sanding device is controlled to perform adaptive sanding according to the adaptive sanding control instruction. The above control is sequentially performed in each execution cycle.

[0073] In an embodiment, as shown in FIG. 2, the adaptive sanding control based on the wheelset deceleration and the wheelset deceleration differential value is generated, and the sanding device is controlled to perform adaptive sanding according to the adaptive sanding control instruction, which can include: Figure 3

[0074] In each cycle, it is detected whether the wheelset deceleration is greater than or equal to a first deceleration value;

[0075] If the wheelset deceleration is greater than or equal to the first deceleration value, for example, a≥0, a first sanding control instruction is generated, and the sanding device is controlled to sand at a first sanding pressure;

[0076] If the wheelset deceleration is less than or equal to the lower limit of the deceleration, that is, a≤-a e , a second sanding control instruction is generated, and the sanding device is controlled to sand at a second sanding pressure, which is greater than the first sanding pressure;

[0077] If the wheelset deceleration is greater than the lower limit of the deceleration and less than the first deceleration value, a corresponding sanding control instruction is generated according to the wheelset deceleration differential value, and the sanding device is controlled to perform adaptive sanding.

[0078] Optionally, the first deceleration value can be 0. When the wheelset deceleration is 0, it indicates that the wheel-rail adhesion has met the requirements of the current actual braking force, and the wheelset has started to restore the speed. Therefore, the low-pressure sanding is activated, the lowest sanding pressure is output, and the current sanding pressure P=P1; otherwise, the next control is entered.

[0079] In the case where the wheelset deceleration is less than 0, it is judged whether the deceleration a is greater than the lower limit of the deceleration, where the lower limit of the deceleration is -a e , and the upper limit of the deceleration is a e . If a≤-a e , it indicates that the wheel-rail adhesion is extremely low, the high-pressure sanding needs to be activated, the maximum sanding pressure is output, and the current sanding pressure P=P2, that is, the second sanding pressure.

[0080] Here, the absolute value of the lower limit of the deceleration can be valued according to actual requirements, which is not limited in the embodiment, for example, a e may be valued as 4 m / s 2 .

[0081] ​Here, the specific value of the second sanding pressure can be set according to actual needs, and the value of the second sanding pressure is not limited in the embodiment. For example, the value of the second sanding pressure can be 600kPa, 630kPa, 650kPa, etc.

[0082] If a > -a e According to the change trend of the wheelset deceleration a, it is divided into two cases of wheelset deceleration differential a'≤0 and a'>0 to enter the next step control. In an embodiment, the corresponding sanding control instruction is generated according to the wheelset deceleration differential value, and the sanding device is controlled to perform adaptive sanding, which can include:

[0083] When the wheelset deceleration differential value is less than the deceleration differential lower limit or the wheelset deceleration differential value is greater than the deceleration differential upper limit, a second sanding control instruction is generated to control the sanding device to sand at a second sanding pressure;

[0084] In the case of a'≤0, it is judged whether a' is greater than the deceleration differential lower limit -a e If a' > -a e , it indicates that the wheelset deceleration is rapidly reduced, and the adhesion needs to be improved as soon as possible, so the high-pressure sanding is activated, and the highest sanding pressure is output, so that the sanding pressure P=P2.

[0085] Optionally, the absolute value of the deceleration differential lower limit value can be valued according to actual needs, which is not limited in the embodiment. For example, the value of a e may be 4m / s 3 .

[0086] When a'>0, it is judged whether a' is greater than the deceleration differential upper limit a e If a'>a e , it indicates that the brake cylinder is rapidly vented, causing the wheelset deceleration to rapidly rise, and in order to maintain the braking force, the adhesion needs to be improved as soon as possible, so the high-pressure sanding is activated, and the highest sanding pressure is output, so that the sanding pressure P=P2.

[0087] When the wheelset deceleration differential value is greater than or equal to the deceleration differential lower limit and less than or equal to the deceleration differential upper limit, a pressure maintaining curve and an adaptive pressure reducing curve are set, and according to the relationship between the wheelset deceleration differential value and the pressure maintaining curve and the adaptive pressure reducing curve, the corresponding sanding control instruction is determined to control the sanding device to perform adaptive sanding.

[0088] If -a e ≤a'≤a e , it indicates that the train sliding working condition is within a controllable range, and fine control should be performed according to the region of the deceleration and the deceleration differential.

[0089] In an embodiment, when the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to the upper limit of the deceleration differential value, the pressure maintaining curve and the adaptive pressure reducing curve are set, and the corresponding sanding control instruction is determined according to the relationship between the wheelset deceleration differential value and the pressure maintaining curve and the adaptive pressure reducing curve respectively, so as to control the sanding device to perform adaptive sanding, which can include:

[0090] When the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to the upper limit of the deceleration differential value, the corresponding pressure maintaining curve and the corresponding adaptive pressure reducing curve are set according to the wheelset deceleration differential value;

[0091] Optionally, as shown in Figure 4 When the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to zero, the corresponding pressure maintaining curve is a1=-ka1'-b, and the corresponding adaptive pressure reducing curve is a1=-cotβa1'-b, cotβ>k;

[0092] As shown in Figure 5 When the wheelset deceleration differential value is greater than zero and less than or equal to the upper limit of the deceleration differential value, the corresponding pressure maintaining curve is a2=ka2'-b, and the corresponding adaptive pressure reducing curve is a2=cotβa2'-b, cotβ>k;

[0093] In the formula, a1 represents the wheelset deceleration when the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to zero, a2 represents the wheelset deceleration when the wheelset deceleration differential value is greater than zero and less than or equal to the upper limit of the deceleration differential value, k represents the slope of the pressure maintaining curve, for example, k=1, a1' represents the wheelset deceleration a1 differential value, a2' represents the wheelset deceleration a2 differential value, b represents a parameter, for example, b=2, cotβ represents the slope of the adaptive pressure reducing curve, and β represents the angle corresponding to the slope of the adaptive pressure reducing curve, for example, β∈[14°, 38°], and the initial value can be 14°.

[0094] When the wheelset deceleration is less than or equal to the corresponding pressure maintaining curve, a pressure increasing control instruction is generated to control the sanding device to increase the sanding pressure based on the current sanding pressure;

[0095] When the wheelset deceleration is greater than the corresponding pressure maintaining curve and less than or equal to the corresponding adaptive pressure reducing curve, a pressure maintaining control instruction is generated to control the sanding device to maintain the current sanding pressure for sanding, while the corresponding adaptive pressure reducing curve is adaptively adjusted to increase the pressure maintaining control region;

[0096] When the wheelset deceleration is greater than the corresponding adaptive pressure reducing curve, a pressure reducing control instruction is generated to control the sanding device to reduce the sanding pressure based on the current sanding pressure, while the corresponding adaptive pressure reducing curve is adaptively adjusted to increase the pressure reducing control region.

[0097] Referring to Figure 3 and Figure 4 When the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to zero, if the wheelset deceleration a1 is less than the corresponding pressure maintaining curve, i.e. a1≤-ka1'-b, it indicates that the wheelset adhesion is greatly different from the required adhesion, and thus an increase pressure command is outputted to control the sanding device to increase the sanding pressure based on the current sanding pressure.

[0098] Optionally, the control of the sanding device to increase the sanding pressure based on the current sanding pressure can include: determining the increased sanding pressure according to p'=p+Δp; in the formula, p' represents the increased sanding pressure, p represents the current sanding pressure, and Δp represents the sanding pressure increase value, for example, Δp can be 30 kPa. Figure 4 as shown in region ①.

[0099] If the wheelset deceleration a1 is greater than the pressure maintaining curve, i.e. a1>-ka1'-b, it indicates that the wheelset adhesion is not greatly different from the required adhesion, and the wheelset deceleration change trend is in a controllable range, and thus a comparison is made with the adaptive pressure reducing curve a1=-cotβa1'-b to determine whether to maintain pressure or reduce pressure.

[0100] In the case that the wheelset deceleration differential value is less than or equal to zero, if a1≤-cotβa1'-b, a pressure maintaining control command is outputted, and the sanding pressure remains unchanged, as shown in region ②. Figure 4 Meanwhile, the adaptive pressure reducing curve is adaptively changed, the pressure reducing curve is controlled to rise, the pressure maintaining control region is increased, the pressure maintaining time is increased, and the system stability is maintained, as shown by the rising arrow. Figure 4

[0101] Optionally, the control of the adaptive adjustment of the corresponding adaptive pressure reducing curve to increase the pressure maintaining control region can include:

[0102] The adaptive adjustment of the adaptive pressure reducing curve is determined according to β'=β-Δβ, i.e. the rising adaptive pressure reducing curve; in the formula, β' represents the angle corresponding to the slope of the adjusted adaptive pressure reducing curve, and Δβ represents the angle change value of the slope of the adaptive pressure reducing curve, which can be 4°.

[0103] In the case that the wheelset deceleration differential value is less than or equal to zero, if a1>-cotβa1'-b, a pressure reducing command is outputted to reduce the sanding pressure, as shown in region ③. Figure 4

[0104] Optionally, the control of the sanding device to reduce the sanding pressure based on the current sanding pressure can include: determining the reduced sanding pressure according to p''=p-Δp / 3; in the formula, p'' represents the increased sanding pressure. ​​

[0105] At the same time, the adaptive pressure reduction curve is adaptively changed to make the pressure reduction curve descend, increase the pressure reduction control region, increase the pressure reduction time, and maintain system stability, as shown by the descending arrow. Figure 4 Alternatively, the adaptive pressure reduction curve after the adaptive adjustment, i.e., the pressure reduction curve after the descent, is determined according to β" = β + Δβ; in the formula, β" represents the angle corresponding to the slope of the adaptive pressure reduction curve after the adjustment.

[0106] Referring to FIG. 5, when the wheelset deceleration differential value is greater than zero and less than or equal to the lower limit of the deceleration differential value, if the wheelset deceleration a2 is less than the pressure maintenance curve, i.e., a2 < ka2'-b, it indicates that the wheelset adhesion and the required adhesion are greatly different, and thus a pressure increase command is output to increase the sanding pressure, as shown in region ①. Figure 3 Alternatively, the increased sanding pressure is determined according to p' = p + Δp; in the formula, p' represents the increased sanding pressure, p represents the current sanding pressure, and Δp represents the sanding pressure increase value. Figure 5 Figure 5 If the wheelset deceleration a2 is greater than the pressure maintenance curve, i.e., a2 > ka2'-b, it indicates that the wheelset adhesion and the required adhesion are not greatly different, and the deceleration change trend is within the controllable range, and thus a comparison is made with the adaptive pressure reduction curve a2 = cotβa2'-b to determine whether pressure maintenance or pressure reduction is performed.

[0107] When the wheelset deceleration differential value is greater than zero, if a2 < cotβa2'-b, a pressure maintenance command is output, and the sanding pressure remains unchanged, as shown in region ②. At the same time, the adaptive pressure reduction curve is adaptively changed to make the pressure reduction curve descend, increase the pressure reduction control region, increase the pressure reduction time, and maintain system stability, as shown by the descending arrow.

[0108] Alternatively, the adaptive pressure reduction curve after the adaptive adjustment, i.e., the pressure reduction curve after the descent, is determined according to β" = β + Δβ; in the formula, β" represents the angle corresponding to the slope of the adaptive pressure reduction curve after the adjustment. Figure 5 Figure 5 When the wheelset deceleration differential value is greater than zero, if a2 > cotβa2'-b, a pressure reduction command is output to reduce the sanding pressure, as shown in region ③. Alternatively, the reduced sanding pressure is determined according to p" = p - Δp / 3; in the formula, p" represents the increased sanding pressure.

[0109] Figure 5 At the same time, the adaptive pressure reduction curve is adaptively changed to make the pressure reduction curve descend, increase the pressure reduction control region, increase the pressure reduction time, and maintain system stability, as shown by the descending arrow.

[0110] When the wheelset deceleration differential value is greater than zero, if a2 > cotβa2'-b, a pressure reduction command is output to reduce the sanding pressure, as shown in region ③. Figure 5 ​The adaptive adjustment of the adaptive pressure reduction curve is determined according to β''=β+Δβ, wherein β'' represents an angle corresponding to a slope of the adaptive pressure reduction curve after adjustment.

[0111] In step 104, the train wheel-rail friction force is acquired in real time in the adaptive sanding control process.

[0112] The sanding control based on the target braking force is adjusted to the sanding instruction output by the adaptive sanding control based on the deceleration. The target of the sanding control is to enable the wheel-rail adhesion to meet the demand of the target braking force, and when the wheel-rail friction force reaches the target braking force, the sanding pressure can no longer be increased, otherwise the sanding is excessive, so that whether the sanding is excessive can be determined through the calculation of the wheel-rail friction force, and the sanding instruction can be adjusted by comparing the wheel-rail friction force with the target braking force, so that the adhesion can be improved and the sanding can be avoided.

[0113] In an embodiment, the acquisition of the train wheel-rail friction force can include:

[0114] The train brake cylinder pressure value and the wheelset angular velocity are acquired.

[0115] The braking torque is calculated according to the brake cylinder pressure value.

[0116] The train wheel-rail friction force is calculated according to the wheelset angular velocity and the braking torque.

[0117] Here, the wheelset angular velocity can be acquired by collecting a speed sensor signal and calculating the wheelset angular velocity according to the speed sensor signal.

[0118] In an embodiment, the calculation of the braking torque according to the brake cylinder pressure value can include:

[0119] The braking torque is calculated according to M Z =P Z ·n·μ·r;

[0120] In the formula, M Z represents the braking torque, P Z represents the brake cylinder pressure value, n represents the number of brake pads, which can be 4, μ represents the brake pad friction coefficient, which can be 0.32, and r represents the distance from the brake pad to the wheelset, which can be 0.23 m.

[0121] In an embodiment, the calculation of the train wheel-rail friction force according to the wheelset angular velocity and the braking torque can include:

[0122] The train wheel-rail friction force is calculated according to F=(J·ω+M Z ) / R;

[0123] In the formula, F represents the frictional force between the train wheel and rail, J represents the moment of inertia of the wheelset, ω represents the angular velocity of the wheelset, and R represents the radius of the wheelset, which can be taken as 0.46m.

[0124] Step 105: Adjust the adaptive sand spreading control command based on the train wheel-rail friction and target braking force, and use the adjusted sand spreading control command to control the sand spreading device to spread sand.

[0125] In one embodiment, when the frictional force between the train wheel and rail is less than the target braking force, it indicates that the sand spreading is not excessive, and the adaptive sand spreading control command remains unchanged, that is, the current sand spreading control command is used for sand spreading;

[0126] When the frictional force between the train wheels and rails is greater than or equal to the target braking force, it indicates that excessive sand application has occurred, and the pressure boosting control command will be changed to a pressure holding control command. That is, if the current command is pressure boosting, sand application will not be performed; the current sand application pressure will be maintained, and other commands will remain unchanged.

[0127] This invention, in its embodiments, controls the sand-spreading device to spread sand at a first spreading pressure when the anti-slip activation signal is set. Under preset conditions of wheelset deceleration, it enters an adaptive sand-spreading control phase. An adaptive sand-spreading control command is generated based on the wheelset deceleration and its differential value. This command is then used to control the sand-spreading device to perform adaptive sand-spreading, achieving precise sand-spreading and rapid restoration of wheel-rail adhesion. Furthermore, during the adaptive sand-spreading process, the adaptive sand-spreading control command is adjusted based on the train's wheel-rail friction and target braking force. This adjusted command is then used to control the sand-spreading device, reducing the amount of sand spread, minimizing interference with track detection signals, lowering maintenance costs, and ensuring train operation safety.

[0128] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0129] The following are device embodiments of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0130] Figure 6 A schematic diagram of the train sand-spreading control device provided in an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below:

[0131] like Figure 6 As shown, the train sand spreading control device 6 includes: a calculation module 61, a control module 62, and an acquisition module 63.

[0132] Calculation module 61 is used to calculate the wheelset deceleration and the differential value of the wheelset deceleration in real time during the train braking process;

[0133] The control module 62 is configured to control the sanding device to sand at the first sanding pressure when the anti-skid activation signal is set in the N1 periods.

[0134] The control module 62 is further configured to generate an adaptive sanding control instruction according to the wheelset deceleration and the wheelset deceleration differential value when the wheelset deceleration meets the preset condition in the N1 periods, and control the sanding device to sand adaptively according to the adaptive sanding control instruction.

[0135] The acquisition module 63 is configured to acquire the train wheel-rail friction force and the target braking force in real time in the adaptive sanding control process.

[0136] The control module 62 is further configured to adjust the adaptive sanding control instruction according to the train wheel-rail friction force and the target braking force, and control the sanding device to sand by using the adjusted sanding control instruction.

[0137] In a possible implementation, when the control module 62 controls the sanding device to sand adaptively according to the wheelset deceleration and the wheelset deceleration differential value when the wheelset deceleration meets the preset condition in the N1 periods, the control module 62 is configured to:

[0138] control the sanding device to sand adaptively according to the wheelset deceleration and the wheelset deceleration differential value when the wheelset deceleration is always decreasing in the N1 periods;

[0139] or control the sanding device to sand adaptively according to the wheelset deceleration and the wheelset deceleration differential value when the wheelset deceleration increases in the N1 periods and the wheelset deceleration stops increasing.

[0140] In a possible implementation, when the control module 62 generates the adaptive sanding control instruction according to the wheelset deceleration and the wheelset deceleration differential value and controls the sanding device to sand adaptively according to the adaptive sanding control instruction, the control module 62 is configured to:

[0141] generate a first sanding control instruction to control the sanding device to sand at the first sanding pressure if the wheelset deceleration is greater than or equal to a first deceleration value in each period;

[0142] generate a second sanding control instruction to control the sanding device to sand at a second sanding pressure if the wheelset deceleration is less than or equal to a lower deceleration value, the second sanding pressure being greater than the first sanding pressure;

[0143] generate a corresponding sanding control instruction according to the wheelset deceleration differential value to control the sanding device to sand adaptively if the wheelset deceleration is greater than the lower deceleration value and less than the first deceleration value.

[0144] In a possible implementation, the control module 62 generates corresponding sanding control instructions according to the wheel set deceleration differential value, and controls the sanding device to perform adaptive sanding, for:

[0145] When the wheel set deceleration differential value is less than the lower limit of the deceleration differential value, or the wheel set deceleration differential value is greater than the upper limit of the deceleration differential value, a second sanding control instruction is generated to control the sanding device to sand at a second sanding pressure;

[0146] When the wheel set deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to the upper limit of the deceleration differential value, a pressure maintaining curve and an adaptive pressure reducing curve are set, and corresponding sanding control instructions are determined according to the relationship between the wheel set deceleration differential value and the pressure maintaining curve and the adaptive pressure reducing curve respectively, to control the sanding device to perform adaptive sanding.

[0147] In a possible implementation, when the wheel set deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to the upper limit of the deceleration differential value, the control module 62 sets a pressure maintaining curve and an adaptive pressure reducing curve, and determines corresponding sanding control instructions according to the relationship between the wheel set deceleration differential value and the pressure maintaining curve and the adaptive pressure reducing curve respectively, to control the sanding device to perform adaptive sanding, for:

[0148] When the wheel set deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to the upper limit of the deceleration differential value, corresponding pressure maintaining curves and corresponding adaptive pressure reducing curves are set according to the wheel set deceleration differential value;

[0149] When the wheel set deceleration is less than or equal to the corresponding pressure maintaining curve, a pressure increasing control instruction is generated to control the sanding device to increase the sanding pressure on the basis of the current sanding pressure;

[0150] When the wheel set deceleration is greater than the corresponding pressure maintaining curve and less than or equal to the corresponding adaptive pressure reducing curve, a pressure maintaining control instruction is generated to control the sanding device to maintain the current sanding pressure, and the corresponding adaptive pressure reducing curve is controlled to be adjusted adaptively to increase the pressure maintaining control region;

[0151] When the wheel set deceleration is greater than the corresponding adaptive pressure reducing curve, a pressure reducing control instruction is generated to control the sanding device to reduce the sanding pressure on the basis of the current sanding pressure, and the corresponding adaptive pressure reducing curve is controlled to be adjusted adaptively to increase the pressure reducing control region.

[0152] In a possible implementation, when the wheel set deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to zero, the corresponding pressure maintaining curve is a1=-ka1'-b, the corresponding adaptive pressure reducing curve is a1=-cotβa1'-b, and cotβ>k;

[0153] When the wheelset deceleration differential value is greater than zero and less than or equal to the upper limit of the deceleration differential value, the corresponding pressure maintaining curve is a2=k a2'-b, and the corresponding adaptive pressure reducing curve is a2=cotβ a2'-b, cotβ>k;

[0154] In the formula, a1 represents the wheelset deceleration when the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to zero, a2 represents the wheelset deceleration when the wheelset deceleration differential value is greater than zero and less than or equal to the upper limit of the deceleration differential value, k represents the slope of the pressure maintaining curve, a1' represents the wheelset deceleration a1 differential value, a2' represents the wheelset deceleration a2 differential value, b represents a parameter, and cotβ represents the slope of the adaptive pressure reducing curve, and β represents the angle corresponding to the slope of the adaptive pressure reducing curve.

[0155] In a possible implementation, when the control module 62 controls the sanding device to increase the sanding pressure on the basis of the current sanding pressure, the control module 62 is configured to:

[0156] determine the increased sanding pressure according to p'=p+Δp, wherein p' represents the increased sanding pressure, p represents the current sanding pressure, and Δp represents the sanding pressure increase value;

[0157] In a possible implementation, when the control module 62 controls the adaptive adjustment of the corresponding adaptive pressure reducing curve and increases the pressure maintaining control region, the control module 62 is configured to:

[0158] determine the adaptive adjusted adaptive pressure reducing curve according to β'=β-Δβ, wherein β' represents the angle corresponding to the slope of the adaptive pressure reducing curve after adjustment, and Δβ represents the angle change value of the angle corresponding to the slope of the adaptive pressure reducing curve;

[0159] In a possible implementation, when the control module 62 controls the sanding device to decrease the sanding pressure on the basis of the current sanding pressure, and controls the adaptive adjustment of the corresponding adaptive pressure reducing curve and increases the pressure reducing control region, the control module 62 is configured to:

[0160] determine the decreased sanding pressure according to p''=p-Δp / 3, wherein p'' represents the increased sanding pressure;

[0161] determine the adaptive adjusted adaptive pressure reducing curve according to β''=β+Δβ, wherein β'' represents the angle corresponding to the slope of the adaptive pressure reducing curve after adjustment.

[0162] In a possible implementation, when the acquisition module 63 acquires the train wheel-rail friction force, the acquisition module 63 is configured to:

[0163] acquire the train brake cylinder pressure value and the wheelset angular velocity;

[0164] calculate the braking torque according to the brake cylinder pressure value;

[0165] The train wheel-rail friction force is calculated according to the wheel pair angular velocity and the brake torque.

[0166] In a possible implementation, when the control module 62 adjusts the adaptive sanding control instruction according to the train wheel-rail friction force and the target braking force, the control module is configured to:

[0167] when the train wheel-rail friction force is less than the target braking force, the adaptive sanding control instruction is kept unchanged;

[0168] when the train wheel-rail friction force is greater than or equal to the target braking force, the pressurization control instruction is replaced by the pressure maintenance control instruction.

[0169] The train sanding control device described above, by setting the anti-skid activation signal, the control module controls the sanding device to sand at the first sanding pressure, and when the wheel pair deceleration meets the preset condition, the control module enters the adaptive sanding control stage, generates the adaptive sanding control instruction according to the wheel pair deceleration and the wheel pair deceleration differential value, and controls the sanding device to sand adaptively according to the adaptive sanding control instruction, so as to realize precise sanding and quickly restore the wheel-rail adhesion. In the adaptive sanding process, the control module adjusts the adaptive sanding control instruction according to the train wheel-rail friction force and the target braking force, and controls the sanding device to sand by using the adjusted sanding control instruction, which can reduce the sanding amount, reduce the interference to the detection signal on the track, reduce the maintenance cost, and ensure the safety of train operation.

[0170] The embodiment of the present application provides a vehicle, comprising a controller, Figure 7 is a schematic diagram of the controller provided by the embodiment of the present application. As Figure 7 shown, the controller 7 of the embodiment comprises a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70. The processor 70 implements the steps in each of the above train sanding control method embodiments when executing the computer program 72, for example Figure 1 steps 101 to 105 shown. Alternatively, the processor 70 implements the functions of each module / unit in each of the above device embodiments when executing the computer program 72, for example Figure 6 the functions of each module / unit shown.

[0171] Illustratively, the computer program 72 can be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 72 in the controller 7. For example, the computer program 72 can be divided into Figure 6The illustrated modules / units.

[0172] The controller 7 can include, but not limited to, a processor 70, a memory 71. Those skilled in the art can understand that the controller 7 can include more or less components than those shown, or combine some components, or different components, for example, the controller can also include input / output devices, network access devices, buses, etc. Figure 7 The controller 7 is merely an example and does not constitute a limitation on the controller 7, and can include more or less components than those shown, or combine some components, or different components, for example, the controller can also include input / output devices, network access devices, buses, etc.

[0173] The processor 70 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0174] The memory 71 can be an internal storage unit of the controller 7, for example, a hard disk or a memory of the controller 7. The memory 71 can also be an external storage device of the controller 7, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 71 can include both the internal storage unit and the external storage device of the controller 7. The memory 71 is used to store the computer program and other programs and data required by the controller. The memory 71 can also be used to temporarily store data that has been output or will be output.

[0175] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0176] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0177] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0178] In the embodiments provided by the present application, it should be understood that the disclosed devices / controllers and methods can be implemented in other ways. For example, the above-described device / controller embodiments are only schematic. For example, the division of the modules or units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or in other forms.

[0179] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0180] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0181] The integrated module / unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-mentioned embodiments of the method of the present application can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of each train sanding control method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, an executable file, or some intermediate form, etc. The computer-readable medium can include any entity or device capable of carrying the computer program code, a recording medium, a U disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0182] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present application, and should be included in the protection scope of the present application.

Claims

1. A train sanding control method, characterized by, The application relates to a sanding control method for a train, and belongs to the field of train sanding control. During train braking, wheel set deceleration and wheel set deceleration differential value are calculated in real time; When the anti-skid activation signal is set in N1 periods, a sanding device is controlled to sand at a first sanding pressure, wherein N1 is a positive integer; When the wheel set deceleration meets preset conditions in N1 periods, adaptive sanding control instructions are generated according to the wheel set deceleration and the wheel set deceleration differential value, and the sanding device is controlled to sand adaptively according to the adaptive sanding control instructions; The adaptive sanding control instructions are generated according to the wheel set deceleration and the wheel set deceleration differential value, and the sanding device is controlled to sand adaptively according to the adaptive sanding control instructions, comprising: In each period, if the wheel set deceleration is greater than or equal to a first deceleration value, a first sanding control instruction is generated to control the sanding device to sand at a first sanding pressure; if the wheel set deceleration is less than or equal to a lower deceleration limit value, a second sanding control instruction is generated to control the sanding device to sand at a second sanding pressure, wherein the second sanding pressure is greater than the first sanding pressure; if the wheel set deceleration is greater than the lower deceleration limit value and less than the first deceleration value, corresponding sanding control instructions are generated according to the wheel set deceleration differential value to control the sanding device to sand adaptively; The corresponding sanding control instructions are generated according to the wheel set deceleration differential value to control the sanding device to sand adaptively, comprising: When the wheel set deceleration differential value is less than a lower deceleration differential value limit or greater than an upper deceleration differential value limit, a second sanding control instruction is generated to control the sanding device to sand at a second sanding pressure; when the wheel set deceleration differential value is greater than or equal to the lower deceleration differential value limit and less than or equal to the upper deceleration differential value limit, a pressure maintaining curve and an adaptive pressure reducing curve are set, and corresponding sanding control instructions are determined according to the relationship between the wheel set deceleration differential value and the pressure maintaining curve and the adaptive pressure reducing curve respectively to control the sanding device to sand adaptively; During adaptive sanding control, train wheel-rail friction and target braking force are acquired in real time; The adaptive sanding control instructions are adjusted according to the train wheel-rail friction and the target braking force, and the sanding device is controlled to sand by using the adjusted sanding control instructions.

2. The train sanding control method of claim 1 wherein, When the wheel set deceleration meets preset conditions in N1 periods, the sanding device is controlled to sand adaptively according to the wheel set deceleration and the wheel set deceleration differential value, comprising: When the wheel set deceleration is continuously decreasing in N1 periods, the sanding device is controlled to sand adaptively according to the wheel set deceleration and the wheel set deceleration differential value; Or when the wheel set deceleration increases in N1 periods and the wheel set deceleration stops increasing, the sanding device is controlled to sand adaptively according to the wheel set deceleration and the wheel set deceleration differential value.

3. The method of claim 1, wherein, When the wheel set deceleration differential value is greater than or equal to the lower deceleration differential value limit and less than or equal to the upper deceleration differential value limit, a pressure maintaining curve and an adaptive pressure reducing curve are set, and corresponding sanding control instructions are determined according to the relationship between the wheel set deceleration differential value and the pressure maintaining curve and the adaptive pressure reducing curve respectively to control the sanding device to sand adaptively, comprising: when the wheelset deceleration differential value is greater than or equal to the lower limit of the wheelset deceleration differential value and less than or equal to the upper limit of the wheelset deceleration differential value, setting a corresponding pressure maintaining curve and a corresponding adaptive pressure reducing curve according to the wheelset deceleration differential value; when the wheelset deceleration is less than or equal to the corresponding pressure maintaining curve, generating a pressure increasing control instruction to control the sanding device to increase the sanding pressure based on the current sanding pressure; when the wheelset deceleration is greater than the corresponding pressure maintaining curve and less than or equal to the corresponding adaptive pressure reducing curve, generating a pressure maintaining control instruction to control the sanding device to maintain the current sanding pressure and to control the corresponding adaptive pressure reducing curve to adaptively adjust and increase the pressure maintaining control region; when the wheelset deceleration is greater than the corresponding adaptive pressure reducing curve, generating a pressure reducing control instruction to control the sanding device to reduce the sanding pressure based on the current sanding pressure and to control the corresponding adaptive pressure reducing curve to adaptively adjust and increase the pressure reducing control region.

4. The train sanding control method of claim 3, wherein When the wheel pair deceleration differential value is greater than or equal to the deceleration differential value lower limit and less than or equal to zero, the corresponding pressure maintaining curve is The corresponding adaptive pressure reducing curve is , ; When the wheel pair deceleration differential value is greater than zero and less than or equal to the upper limit of the deceleration differential value, the corresponding pressure maintaining curve is The corresponding adaptive pressure reducing curve is , ; In the formula, represents the wheelset deceleration when the wheelset deceleration differential value is greater than or equal to the lower limit of the deceleration differential value and less than or equal to zero, represents the wheelset deceleration when the wheelset deceleration differential value is greater than zero and less than or equal to the upper limit of the deceleration differential value, represents the slope of the pressure maintaining curve, represents the wheelset deceleration differential value, represents the wheelset deceleration differential value, represents the parameter, represents the slope of the adaptive pressure reducing curve, represents the angle corresponding to the slope of the adaptive pressure reducing curve.

5. The train sanding control method of claim 4, wherein controlling the sanding device to increase the sanding pressure based on the current sanding pressure comprises: According to determining the increased sanding pressure; wherein, represents the increased sanding pressure, represents the current sanding pressure, represents the sanding pressure increase value; controlling the corresponding adaptive pressure reducing curve to adaptively adjust and increase the pressure maintaining control region comprises: According to determining an adaptive adjustment of the adaptive decompression curve; wherein, denotes an angle corresponding to the slope of the adaptive decompression curve adjustment, denotes an angle change value corresponding to the slope of the adaptive decompression curve; controlling the sanding device to reduce the sanding pressure based on the current sanding pressure and controlling the corresponding adaptive pressure reducing curve to adaptively adjust and increase the pressure reducing control region comprises: According to determining the reduced sanding pressure; where, denotes the increased sanding pressure; According to determining an adaptive adjusted adaptive decompression curve; in the formula, indicates the angle corresponding to the slope of the adjusted adaptive decompression curve.

6. The method of claim 1 wherein, acquiring the train wheel-rail friction force comprises: acquiring the train brake cylinder pressure value and the wheelset angular velocity; calculating the braking torque according to the brake cylinder pressure value; calculating the train wheel-rail friction force according to the wheelset angular velocity and the braking torque.

7. The method of claim 6 wherein, adjusting the adaptive sanding control instruction according to the train wheel-rail friction force and the target braking force comprises: when the train wheel-rail friction force is less than the target braking force, keeping the adaptive sanding control instruction unchanged; when the train wheel-rail friction force is greater than or equal to the target braking force, replacing the pressure increasing control instruction with the pressure maintaining control instruction.

8. A vehicle comprising a controller, the controller comprising a memory for storing a computer program and a processor for invoking and running the computer program stored in the memory, characterized in that, The processor, when executing the computer program, implements the steps of the train sanding control method of any one of claims 1 to 7.

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