A train and a system and method for coordinated control thereof

Abstract

The application discloses a train and a cooperative control system and method thereof, and applies to the technical field of track traffic, and comprises a main control synchronous operating device arranged in a main control traction locomotive and each slave control synchronous operating device arranged in each slave control traction locomotive; each of the main control synchronous operating device and each slave control synchronous operating device comprises a main clock circuit and a control circuit; each main clock circuit is used for receiving a satellite signal and timing the control circuit connected with the main clock circuit, and each main clock circuit performs time synchronization in a first period; the control circuit in the main control synchronous operating device is used for being in communication connection with the control circuit in each slave control synchronous operating device through a mobile communication network, and performing cooperative control of train operation. The scheme of the application can realize accurate and effective cooperative control.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a train and its cooperative control system and method. Background Technology

[0002] With economic development, there is a need to further improve train transportation efficiency. Increasing the traction load capacity of train sets is an effective means to improve transportation efficiency. Traditional trains pulled by single locomotives are limited by the power of the single locomotive, resulting in limited traction load capacity, which makes it difficult to meet the demand for higher transportation capacity.

[0003] Therefore, in increasingly common situations, multiple locomotives are used in train formations to enhance the overall transport capacity. At the same time, when a train formation has a large number of carriages and a heavy load, limitations imposed by the performance of the coupling couplers, buffers, and traction / braking capabilities necessitate distributing the locomotives throughout the train formation to avoid concentrating them in one place.

[0004] Since the locomotives are distributed throughout the train and the train is quite long, the operating conditions of different carriages are different during operation. Therefore, the control devices of each locomotive need to coordinate and control each locomotive to achieve coordinated action, thereby ensuring the smooth and safe operation of the entire train.

[0005] Currently, some collaborative control schemes based on train wireless multiple-connection networks have been proposed. However, when these schemes are applied, the topology of the wireless communication links between control devices is relatively complex, resulting in poor synchronization of collaborative actions and making it difficult to achieve accurate and effective collaborative control.

[0006] In conclusion, how to effectively achieve coordinated control of trains with multiple locomotives is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] The purpose of this invention is to provide a train and its cooperative control system and method to effectively achieve cooperative control of trains with multiple locomotives.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0009] A train cooperative control system includes: a master control synchronous control device installed in a master control traction locomotive, and slave control synchronous control devices installed in each slave control traction locomotive.

[0010] The master control synchronous control device and each of the slave control synchronous control devices include a master clock circuit and a control circuit.

[0011] Each of the aforementioned master clock circuits is used to receive satellite signals and provide time synchronization for the control circuits connected to it, and each of the aforementioned master clock circuits performs time synchronization according to a first cycle;

[0012] The control circuit in the master control synchronous control device is used to communicate with the control circuits in each slave control synchronous control device through a mobile communication network to perform coordinated control of train operation.

[0013] Preferably, the master control synchronous operation device further includes:

[0014] The main control redundancy control circuit is used to receive the timing signal from the main clock circuit in the main control synchronous control device and synchronize data with the control circuit in the main control synchronous control device, so as to serve as a hot standby redundancy for the control circuit in the main control synchronous control device.

[0015] Preferably, the power supply of the master control synchronous control device includes a first power supply and a second power supply, both of which are used to supply power to the master control synchronous control device for power redundancy.

[0016] Preferably, each of the slave-controlled synchronous operating devices further includes:

[0017] The slave-controlled redundant control circuit is used to receive the time signal from the master clock circuit in the slave-controlled synchronous control device in which it is located, and to synchronize data with the control circuit in the slave-controlled synchronous control device in which it is located, so as to serve as a hot standby redundancy for the control circuit in the slave-controlled synchronous control device in which it is located.

[0018] Preferably, the power supply of each of the slave-controlled synchronous control devices includes a third power supply and a fourth power supply, both of which are used to supply power to the slave-controlled synchronous control device to which they belong for power redundancy.

[0019] Preferably, each of the master clock circuits performs time synchronization according to a first cycle, including:

[0020] The master clock circuit in the master control synchronous control device acquires the time of the master clock circuit of each slave control synchronous control device every first cycle.

[0021] When the difference between the time of the master clock circuit in any slave-controlled synchronous control device and the time of the master clock circuit in the master-controlled synchronous control device exceeds a first difference threshold, the master clock circuit in the slave-controlled synchronous control device is controlled to ignore the satellite signals it receives, and the time of the master clock circuit in the master-controlled synchronous control device is taken as the current time obtained by the master clock circuit of the slave-controlled synchronous control device.

[0022] Preferably, each master clock circuit is also used for:

[0023] Upon receiving a satellite signal, a verification is performed. If the verification is successful, the time of the master clock circuit is synchronized with the time in the received satellite signal.

[0024] Preferably, each master clock circuit is also used for:

[0025] When satellite signals are unavailable and the duration of unavailability does not exceed the first duration threshold, the time of the master clock circuit itself is considered available in order to continue to provide time for the control circuits connected to it.

[0026] When satellite signals are unavailable and the duration of unavailability exceeds the first duration threshold, the time of the master clock circuit itself is considered unavailable, and the time of any other master clock circuit is obtained and used as the time of that master clock circuit.

[0027] Preferably, the mobile communication network is an LTE or 5G-based mobile communication network.

[0028] Preferably, the control circuit in the master control synchronous operating device is specifically used for:

[0029] According to the preset driving control strategy, the driving control of the main traction locomotive is carried out;

[0030] According to the driving control strategy, a first control signal is generated and transmitted to the control circuits in each of the slave-controlled synchronous operating devices via a mobile communication network, so that the control circuit in any one of the slave-controlled synchronous operating devices can perform driving control of its own slave-controlled traction locomotive according to the first control signal and the driving control strategy.

[0031] Preferably, each slave control synchronous control device is divided into 1 first slave control synchronous control device, N second slave control synchronous control devices, and N third slave control synchronous control devices;

[0032] The first slave synchronous control device and the master synchronous control device communicate via a train line; for any one second slave synchronous control device, there is a corresponding third slave synchronous control device that communicates with the second slave synchronous control device via a train line, and hot standby redundancy is achieved through data synchronization.

[0033] In the first mode, the control circuit in the master control synchronous control device is specifically used to: communicate with the control circuits in each of the slave control synchronous control devices through a mobile communication network to perform coordinated control of train operation;

[0034] In the second mode, the control circuit in the master control synchronous control device is specifically used to: communicate with the control circuits in each of the second slave control synchronous control devices through a mobile communication network to perform coordinated control of train operation;

[0035] In the second mode, the first slave control synchronous control device controls its own slave traction locomotive by receiving control commands sent by the master control synchronous control device; any one of the third slave control synchronous control devices controls its own slave traction locomotive by receiving control commands sent by the second slave control synchronous control device that is in reconnection communication with it.

[0036] A train cooperative control method includes a master control synchronous control device in a master control locomotive and slave control synchronous control devices in each slave control locomotive. Each master control synchronous control device and each slave control synchronous control device includes a master clock circuit and a control circuit. The train cooperative control method includes:

[0037] Each of the aforementioned master clock circuits receives satellite signals and provides time synchronization for the control circuits connected to it;

[0038] Each of the aforementioned master clock circuits synchronizes its time according to the first cycle;

[0039] The control circuit in the master control synchronous control device is connected to the control circuits in each slave control synchronous control device via a mobile communication network to perform coordinated control of train operation.

[0040] Preferably, the control circuit in the master control synchronous control device is communicatively connected to the control circuits in each of the slave control synchronous control devices via a mobile communication network to perform coordinated control of train operation, including:

[0041] The main control synchronous control device performs the driving control of the main control traction locomotive according to the preset driving control strategy;

[0042] According to the driving control strategy, a first control signal is generated and transmitted to the control circuits in each of the slave-controlled synchronous operating devices via a mobile communication network, so that the control circuit in any one of the slave-controlled synchronous operating devices can perform driving control of its own slave-controlled traction locomotive according to the first control signal and the driving control strategy.

[0043] Preferably, each slave control synchronous control device is divided into 1 first slave control synchronous control device, N second slave control synchronous control devices, and N third slave control synchronous control devices; N is a positive integer;

[0044] The first slave synchronous control device and the master synchronous control device communicate via a train line; for any one second slave synchronous control device, there is a corresponding third slave synchronous control device that communicates with the second slave synchronous control device via a train line, and hot standby redundancy is achieved through data synchronization.

[0045] The control circuit in the master control synchronous control device is communicatively connected to the control circuits in each of the slave control synchronous control devices via a mobile communication network to perform coordinated control of train operation, including:

[0046] In the first mode, the control circuit in the master control synchronous control device communicates with the control circuits in each slave control synchronous control device through a mobile communication network to perform coordinated control of train operation.

[0047] In the second mode, the control circuit in the master control synchronous control device communicates with the control circuits in each of the second slave control synchronous control devices through a mobile communication network to perform coordinated control of train operation.

[0048] In the second mode, the first slave control synchronous control device controls its own slave traction locomotive by receiving control commands sent by the master control synchronous control device; any one of the third slave control synchronous control devices controls its own slave traction locomotive by receiving control commands sent by the second slave control synchronous control device that is in reconnection communication with it.

[0049] A train, comprising a train cooperative control system as described above.

[0050] The technical solution provided in this invention includes a master control synchronous control device in the master control traction locomotive and slave control synchronous control devices in each slave control traction locomotive. Both the master control synchronous control device and each slave control synchronous control device are equipped with a master clock circuit and a control circuit. Each master clock circuit in this application can receive satellite signals to obtain satellite time, which is more accurate than the train's own timing system, thus facilitating accurate coordinated control. Each master clock circuit provides time synchronization to the control circuit connected to it. Furthermore, to further ensure time consistency, each master clock circuit synchronizes according to a first cycle, which also helps ensure accurate coordinated control. The control circuit in the master control synchronous control device communicates with the control circuits in each slave control synchronous control device via a mobile communication network for coordinated train operation control. In other words, this application achieves mutual communication between control circuits through a mobile communication network, resulting in more stable and efficient communication, which is also conducive to accurate and effective coordinated control.

[0051] In summary, for trains with multiple traction locomotives, the solution proposed in this application can achieve accurate and effective coordinated control. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the structure of a train cooperative control system according to the present invention;

[0054] Figure 2a This is a schematic diagram of the main control synchronous operation device in a specific embodiment of the present invention;

[0055] Figure 2b This is a schematic diagram of the structure of a slave-controlled synchronous manipulation device in a specific embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of train formation in one specific implementation method;

[0057] Figure 4 This is a flowchart illustrating the implementation of a train cooperative control method according to the present invention. Detailed Implementation

[0058] The core of this invention is to provide a train cooperative control system that can achieve accurate and effective cooperative control.

[0059] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a train cooperative control system according to the present invention. The train cooperative control system may include:

[0061] The main control synchronous control device 10 is installed in the main control traction locomotive, and the slave control synchronous control devices 20 are installed in each slave control traction locomotive.

[0062] The master control synchronous control device 10 and each slave control synchronous control device 20 include a master clock circuit 201 and a control circuit 202.

[0063] Each master clock circuit 201 is used to receive satellite signals and provide time synchronization for the control circuit 202 connected to it, and each master clock circuit 201 performs time synchronization according to the first cycle;

[0064] The control circuit 202 in the master control synchronous control device 10 is used to communicate with the control circuits 202 in each slave control synchronous control device 20 through a mobile communication network to perform coordinated control of train operation.

[0065] The train formation described in this application includes multiple locomotives. Typically, the locomotive located at the end in the direction of train travel is designated as the master locomotive, while all other locomotives can serve as slave locomotives. However, in other specific situations, a designated locomotive can be selected as the master locomotive according to actual needs, without affecting the implementation of this invention.

[0066] In the scheme of this application, a synchronous control device is provided in the main control traction locomotive and in each slave control traction locomotive. The synchronous control device provided in the main control traction locomotive is called the main control synchronous control device 10, and the synchronous control devices provided in the slave control traction locomotives are all called slave control synchronous control devices 20.

[0067] Both the master control synchronous control device 10 and the slave control synchronous control device 20 include a master clock circuit 201 and a control circuit 202.

[0068] Each master clock circuit 201 can receive satellite signals to obtain the satellite time, and then use the received satellite time as its own time to provide time synchronization for the control circuits 202 connected to it. Furthermore, to ensure time consistency among the various control circuits 202, each master clock circuit 201 will also synchronize according to a first cycle to ensure accurate and effective train coordination control in this application.

[0069] Each master clock circuit 201 can receive satellite signals in various ways, such as receiving GPS satellite signals, receiving BD satellite signals, etc.

[0070] It is understood that each master clock circuit 201 can receive satellite signals and obtain the satellite time from the satellite signals. Under normal circumstances, the satellite time obtained by each master clock circuit 201 is roughly the same. However, in order to avoid abnormal situations such as communication failure or failure of the master clock circuit 201 itself, this application will also synchronize the time of each master clock circuit 201 to ensure the consistency of the satellite time used by each master clock circuit 201.

[0071] In other words, each master clock circuit 201 synchronizes its time according to the first cycle in order to enable each master clock circuit 201 to use the same time to provide time synchronization for the corresponding control circuit 202, thereby ensuring that the coordinated control of the train can be realized accurately and effectively in the future.

[0072] There can be various specific methods for time synchronization according to the first cycle. For example, in one specific embodiment of the present invention, the time synchronization of each master clock circuit 201 according to the first cycle can specifically include:

[0073] The master clock circuit 201 in the master control synchronous control device 10 acquires the time of the master clock circuit 201 in each slave control synchronous control device 20 every first cycle.

[0074] When the difference between the time of the master clock circuit 201 in any slave-controlled synchronous control device 20 and the time of the master clock circuit 201 in the master-controlled synchronous control device 10 exceeds a first difference threshold, the master clock circuit 201 in the slave-controlled synchronous control device 20 is controlled to ignore the satellite signals it receives and the time of the master clock circuit 201 in the master-controlled synchronous control device 10 is taken as the current time obtained by the master clock circuit 201 of the slave-controlled synchronous control device 20.

[0075] In this embodiment, the satellite time received by the master clock circuit 201 in the master control synchronization control device 10 is used as the standard. When the difference between the satellite time received by the master clock circuit 201 in any slave control synchronization control device 20 and the satellite time received by the master clock circuit 201 in the master control synchronization control device 10 exceeds a first difference threshold, the satellite time received by the master clock circuit 201 in the slave control synchronization control device 20 is considered invalid. That is, the master clock circuit 201 in the slave control synchronization control device 20 can be controlled to ignore the satellite signal it receives and the satellite time received by the master clock circuit 201 in the master control synchronization control device 10 is taken as the current time obtained by the master clock circuit 201 in the slave control synchronization control device 20.

[0076] Of course, if the difference between the satellite time received by the master clock circuit 201 in a slave synchronization control device 20 and the satellite time received by the master clock circuit 201 in the master synchronization control device 10 does not exceed the first difference threshold, it can be said that the two are successfully synchronized.

[0077] This implementation method is simple and convenient for time synchronization. Even if the time of the master clock circuit 201 in one or more slave control synchronization devices 20 differs too much from the time of the master clock circuit 201 in the master control synchronization device 10, there will be corresponding processing measures to still achieve convenient and effective time synchronization.

[0078] Of course, as described above, the time synchronization of each master clock circuit 201 according to the first cycle is to ensure that each master clock circuit 201 uses a consistent time for time synchronization of the corresponding control circuit 202. Therefore, in other specific embodiments, other specific time synchronization methods can be set. For example, for the satellite time received by each master clock circuit 201, when the difference between the maximum and minimum values ​​is within a certain range, it can be determined that the time synchronization is complete; otherwise, corresponding processing measures can be adopted. For example, each master clock circuit 201 can ignore its own received satellite time and reacquire the satellite signal. Alternatively, after excluding the maximum and minimum values, the average of the remaining values ​​can be taken as the satellite time acquired by each master clock circuit 201.

[0079] It can be seen that as long as the timing can be synchronized so that each master clock circuit 201 can use the same time to provide time synchronization for the corresponding control circuit 202, it will be sufficient.

[0080] Furthermore, in one specific embodiment of the present invention, each master clock circuit 201 can also be used for:

[0081] When a satellite signal is received, a verification is performed. If the verification is successful, the time of the master clock circuit 201 is synchronized with the time in the received satellite signal.

[0082] In this implementation, it is considered that any master clock circuit 201 can directly perform verification when it receives a satellite signal. If the verification is successful, it means that the satellite signal has been received normally. Therefore, the time of the master clock circuit 201 itself can be synchronized with the time in the received satellite signal, which is beneficial to further improve the reliability of the scheme and also to ensure the success rate of subsequent time synchronization operations.

[0083] In addition, verification is performed upon receiving satellite signals. There are several specific verification methods. For example, a simple method is to compare the satellite time in the received satellite signal with the train's local time; if the difference is too large, the verification has failed. Another method is to determine the difference between the satellite time in the currently received satellite signal and the satellite time in the previously received satellite signal, and simultaneously determine the difference between the two corresponding train local times at the time of these two satellite signal receptions. Comparing these two differences, if the difference is too large, the verification has failed.

[0084] When the verification fails, there are various specific measures that can be taken. For example, the main clock circuit 201 that fails the verification can reacquire the satellite signal, or the train's local time can be used temporarily.

[0085] In one specific embodiment of the present invention, each master clock circuit 201 is further configured to:

[0086] When satellite signals are unavailable and the duration of unavailability does not exceed the first duration threshold, the time of the master clock circuit 201 itself is considered available so as to continue to provide time synchronization for the control circuit 202 connected to it.

[0087] When the satellite signal is unavailable and the duration of unavailability exceeds the first duration threshold, the time of the master clock circuit 201 itself is considered unavailable, and the time of any other master clock circuit 201 is obtained and used as the time of that master clock circuit 201.

[0088] This implementation takes into account that, in practical applications, the master clock circuit 201 usually receives satellite signals periodically, and after verification, synchronizes its own time with the time in the received satellite signals. In some cases, due to poor signal, temporary communication failure, or other reasons, the satellite signals may become unavailable. When the duration of the unavailable satellite signals does not exceed the first duration threshold, the time operation of the master clock circuit 201 itself will not have a large error with the satellite time. That is, when the duration of the unavailable signals does not exceed the first duration threshold, in this implementation, the time of the master clock circuit 201 itself can still be regarded as available, so that the master clock circuit 201 can continue to use its own time to provide time synchronization for the control circuit 202 connected to it.

[0089] Of course, if the unavailable duration exceeds the first duration threshold, the time operation of the master clock circuit 201 itself may produce a certain degree of error. At this time, the master clock circuit 201 can obtain the time of any other master clock circuit 201 and use it as its own time.

[0090] The control circuit 202 in the master control synchronous control device 10 can communicate with the control circuits 202 in each slave control synchronous control device 20 through a mobile communication network to perform coordinated control of train operation.

[0091] This application takes into account that when communication between control circuits 202 is realized through a mobile communication network, the communication is more stable and efficient, and the amount of data transmitted is large, which is conducive to realizing accurate and effective coordinated control.

[0092] When communicating via a mobile communication network, there can be various specific communication methods. For example, in one specific embodiment of this invention, considering the current abundance of LTE (Long Term Evolution) base stations and 5G base stations, the mobile communication network used in this application can specifically be an LTE- or 5G-based mobile communication network. Of course, in other situations where other mobile communication networks exist that achieve stable and efficient data transmission, the mobile communication network can also be adjusted accordingly.

[0093] In one specific embodiment of the present invention, see [reference needed]. Figure 2a The diagram below shows the structure of the main control synchronous control device 10. The main control synchronous control device 10 may also include:

[0094] The main control redundancy control circuit 203 is used to receive the timing from the main clock circuit 201 in the main control synchronous control device 10 and to synchronize data with the control circuit 202 in the main control synchronous control device 10, so as to serve as a hot standby redundancy for the control circuit 202 in the main control synchronous control device 10.

[0095] This implementation takes into account that traditional solutions have poor reliability when performing coordinated train control. Any single point of failure in the system will cause the loss or degradation of some functions of the system, affecting the system reliability.

[0096] Therefore, in this embodiment, a main control redundant control circuit 203 can be set up and synchronized with the control circuit 202 in the main control synchronous operation device 10. This can serve as a hot standby redundancy for the control circuit 202 in the main control synchronous operation device 10. That is, if the control circuit 202 in the main control synchronous operation device 10 fails, the main control redundant control circuit 203 can directly replace the operation of the control circuit 202 in the main control synchronous operation device 10.

[0097] It is also understandable that the main control redundant control circuit 203 serves as a hot backup redundancy for the control circuit 202 in the main control synchronous control device 10. Therefore, the main clock circuit 201 in the main control synchronous control device 10 also needs to provide time synchronization to the main control redundant control circuit 203.

[0098] Furthermore, it should be noted that, for example, to ensure that the control circuit 202 and the redundant control circuit 203 in the master control synchronous control device 10 can effectively perform their respective functions, corresponding interfaces need to be configured for the control circuit 202 and the redundant control circuit 203 in the master control synchronous control device 10. For example, an external vehicle wireless communication interface can be extended through the internal bus to connect to a mobile communication network, and an I / O interface can be extended through the internal bus for controlling the corresponding electrical equipment of the traction locomotive. Similarly, the control circuits 202 in each slave control synchronous control device 20 and the slave control redundant control circuit 204 mentioned later also need to be configured with corresponding interfaces to enable them to perform their functions.

[0099] Furthermore, in one specific embodiment of the present invention, the power supply of the master control synchronous control device 10 includes a first power supply and a second power supply, both of which are used to supply power to the master control synchronous control device 10 for power redundancy.

[0100] In this embodiment, power redundancy is also implemented for the main control synchronous control device 10, that is, a first power supply and a second power supply are provided. Both the first power supply and the second power supply are used to power the main control synchronous control device 10. In other words, each component in the main control synchronous control device 10 that needs power can be powered by both the first power supply and the second power supply, thus ensuring the reliability of power supply.

[0101] In one specific embodiment of the present invention, see [reference needed]. Figure 2b This is a schematic diagram of the structure of any one slave-controlled synchronous control device 20 in a specific embodiment. Each slave-controlled synchronous control device 20 may further include:

[0102] The slave-controlled redundant control circuit 204 is used to receive the time signal from the master clock circuit 201 in the slave-controlled synchronous control device 20 to which it is located, and to synchronize data with the control circuit 202 in the slave-controlled synchronous control device 20 to serve as a hot standby redundancy for the control circuit 202 in the slave-controlled synchronous control device 20 to which it is located.

[0103] In the aforementioned embodiment, a master control redundant control circuit 203 is set as a hot standby redundancy for the control circuit 202 in the master control synchronous operation device 10. In this embodiment, in order to further improve the reliability of the scheme, a corresponding slave control redundant control circuit 204 is also set for the control circuit 202 in each slave control synchronous operation device 20 to achieve hot standby redundancy.

[0104] In one specific embodiment of the present invention, the power supply of each slave control synchronous control device 20 includes a third power supply and a fourth power supply. The third power supply and the fourth power supply are used to supply power to the slave control synchronous control device 20 to which they belong for power redundancy.

[0105] Similarly to the aforementioned implementation, in this implementation, a third power supply and a fourth power supply are provided for any one slave control synchronous control device 20, thereby achieving power redundancy and ensuring the power supply reliability of the slave control synchronous control device 20.

[0106] The control circuit 202 in the master control synchronous control device 10 can communicate with the control circuits 202 in each slave control synchronous control device 20 via a mobile communication network to perform coordinated control of train operation. Various specific coordinated control methods are possible. For example, in one specific embodiment of the present invention, the control circuit 202 in the master control synchronous control device 10 is specifically used for:

[0107] According to the preset driving control strategy, the driving control of the main traction locomotive is carried out;

[0108] According to the driving control strategy, a first control signal is generated and sent to the control circuit 202 in each slave control synchronous control device 20 via a mobile communication network, so that the control circuit 202 in any slave control synchronous control device 20 can perform driving control of its own slave control traction locomotive according to the first control signal and the driving control strategy.

[0109] Specifically, the control circuit 202 in the main control synchronous control device 10 can perform train control of the main control traction locomotive according to a preset train control strategy and based on the current operating condition of the main control traction locomotive. The specific content of the train control strategy can be set as needed. For example, in one scenario, according to the preset train control strategy, the control circuit 202 in the main control synchronous control device 10 determines that the train needs to travel at speed a at 5 o'clock and reach speed b 5 seconds later. When the time reaches 5 o'clock, the main control traction locomotive is going uphill. Based on the current operating condition of the main control traction locomotive, the control circuit 202 in the main control synchronous control device 10 generates a traction command and outputs it to the traction equipment in the main control traction locomotive to perform traction of the main control traction locomotive.

[0110] Simultaneously, the control circuit 202 in the master control synchronous control device 10 will generate a first control signal according to the driving control strategy and send it to the control circuit 202 in each slave control synchronous control device 20. For example, in the above example, the first control signal carries the information "traveling at speed a at 5 o'clock, reaching speed b after 5 seconds".

[0111] Each control circuit 202 in any slave-controlled synchronous operating device 20 generates corresponding commands and controls the operation of its own slave-controlled traction locomotive based on the first control signal and the driving control strategy. For example, if a slave-controlled traction locomotive is going downhill at 5 o'clock, based on the first control signal and the driving control strategy, the control circuit 202 in a slave-controlled synchronous operating device 20 generates a braking command and outputs it to the braking device in the slave-controlled traction locomotive to brake it. After 5 seconds, a traction command needs to be output to the traction device in the slave-controlled traction locomotive to traction it and bring its speed to b.

[0112] It should be noted that in this embodiment, the control circuits 202 in each slave synchronous control device 20 do not directly execute the instructions sent by the control circuit 202 in the master synchronous control device 10. Instead, they combine the first control signal and the train control strategy to perform train control on their respective slave traction locomotives. That is, the control circuits 202 in the slave synchronous control devices 20 need to perform corresponding data analysis to obtain control instructions. This is because, on the one hand, if the control circuits 202 in each slave synchronous control device 20 directly execute the instructions sent by the control circuit 202 in the master synchronous control device 10, the computational resources required for the master synchronous control device 10 would be high. On the other hand, there is a delay in information transmission. When the control circuit 202 in the slave synchronous control device 20 receives the corresponding instruction, the specified execution time may have already passed. Therefore, in this implementation, the first control signal plays a coordinating role, while the specific and detailed control instructions still need to be derived by the control circuit 202 in each slave control synchronous control device 20 based on the received first control signal and the set train control strategy, according to the working conditions of its own carriage, so that the control circuit 202 in each slave control synchronous control device 20 can timely and effectively control the train of its own traction locomotive.

[0113] In one specific embodiment of the present invention, each slave-controlled synchronous control device 20 is divided into 1 first slave-controlled synchronous control device, N second slave-controlled synchronous control devices, and N third slave-controlled synchronous control devices; N is a positive integer;

[0114] The first slave synchronous control device and the master synchronous control device 10 communicate via a train line; for any one second slave synchronous control device, there is a corresponding third slave synchronous control device that communicates with the second slave synchronous control device via a train line, and hot standby redundancy is achieved through data synchronization.

[0115] In the first mode, the control circuit 202 in the master control synchronous control device 10 is specifically used to: communicate with the control circuit 202 in each slave control synchronous control device 20 through a mobile communication network to perform coordinated control of train operation.

[0116] In the second mode, the control circuit 202 in the master control synchronous control device 10 is specifically used to: communicate with the control circuits 202 in each of the second slave control synchronous control devices through a mobile communication network to perform coordinated control of train operation.

[0117] In the second mode, the first slave control synchronous control device controls its own slave traction locomotive by receiving control commands sent by the master control synchronous control device 10; any one of the third slave control synchronous control devices controls its own slave traction locomotive by receiving control commands sent by the second slave control synchronous control device that is in reconnection communication with it.

[0118] For example in Figure 3 In the implementation, CP1 is the master control synchronous control device 10, and CP2 to CP4 are slave control synchronous control devices 20. CP2 is the first slave control synchronous control device, CP3 is the second slave control synchronous control device, and CP4 is the third slave control synchronous control device. In this example, N is 1.

[0119] CP1 and CP2 communicate via the train line to achieve hot standby redundancy for these two sets of synchronous control devices. Similarly, CP3 and CP4 communicate via the train line to achieve hot standby redundancy for these two sets of synchronous control devices.

[0120] In the first mode, the control circuit 202 in the master control synchronous control device 10 communicates with the control circuits 202 in each slave control synchronous control device 20 via a mobile communication network to perform coordinated control of train operation. That is, in the first mode, each slave control synchronous control device 20 controls its own slave traction locomotive.

[0121] This implementation also has a second mode, in which the control circuit 202 in the master control synchronous control device 10 is only communicatively connected to the control circuits 202 in each of the second slave control synchronous control devices to perform coordinated control of train operation, for example... Figure 3 In this example, CP1 only needs to communicate with CP3 to achieve coordinated control of train operation.

[0122] by Figure 3For example, in the second mode, CP1 controls the operation of the main traction locomotive, and CP2 controls the slave traction locomotive where CP2 is located by receiving control commands sent by the main control synchronization control device 10. That is, the control device in CP2 does not need to perform corresponding data analysis and can directly execute the control commands sent by CP1. It is equivalent to CP1 controlling both the main traction locomotive and the slave traction locomotive where CP2 is located. CP2 plays the role of transmitting control commands and hot standby redundancy. That is, when CP1 fails, CP2 takes over the function of CP1. CP1 and CP2 can achieve data synchronization through the reconnection communication network. The data described here may include relevant control data, train status data, etc.

[0123] Furthermore, in the second mode, CP3 controls the operation of its assigned slave locomotive, while CP4 receives control commands from CP3 and thus controls its assigned slave locomotive. In other words, the control unit in CP4 does not need to perform any data analysis; it directly executes the control commands sent by CP3. Essentially, CP3 controls both its assigned slave locomotives and CP4's. CP4 serves as a control command transmitter and a hot-standby redundancy unit; if CP3 fails, CP4 takes over its function. CP3 and CP4 can synchronize data through a reconnection communication network.

[0124] Furthermore, it is understandable that... Figure 3 This diagram illustrates a specific train formation with four locomotives. Other formations are possible without affecting the implementation of this invention. However, to achieve a second mode of implementation, the locomotives need to be coupled in pairs for hot redundancy, further ensuring the reliability of the train's coordinated control system. In practical applications, the choice between the first and second modes can be made as needed. In situations with a small number of locomotives, such as one master locomotive and one or two slave locomotives, the first mode can be used without a second mode. Conversely, when there are more locomotives, such as four or more, both modes are typically used, with the second mode usually being chosen.

[0125] Applying the technical solution provided in this embodiment of the invention, a master control synchronous control device 10 is installed in the master control traction locomotive, and each slave control synchronous control device 20 is installed in each slave control traction locomotive. Furthermore, both the master control synchronous control device 10 and each slave control synchronous control device 20 are equipped with a master clock circuit 201 and a control circuit 202. Each master clock circuit 201 in this application can receive satellite signals to obtain satellite time, which is more accurate than the train's own timing system, thus facilitating accurate subsequent coordinated control. Each master clock circuit 201 provides time synchronization to the control circuit 202 connected to it. Moreover, to further ensure time consistency, each master clock circuit 201 in this application synchronizes according to a first cycle, which also helps ensure accurate subsequent coordinated control. Furthermore, the control circuit 202 in the master control synchronous control device 10 is connected to the control circuit 202 in each slave control synchronous control device 20 via a mobile communication network to perform coordinated control of train operation. In other words, this application achieves mutual communication between control circuits 202 through a mobile communication network, which makes the communication more stable and efficient, and is also conducive to achieving accurate and effective coordinated control.

[0126] In summary, for trains with multiple traction locomotives, the solution proposed in this application can achieve accurate and effective coordinated control.

[0127] Corresponding to the above embodiment of the train cooperative control system, this embodiment of the invention also provides a train cooperative control method, which can be referred to in conjunction with the above.

[0128] The main control traction locomotive is equipped with a main control synchronous control device, and each slave control traction locomotive is equipped with a slave control synchronous control device. Both the main control synchronous control device and each slave control synchronous control device include a master clock circuit and a control circuit. (See reference...) Figure 4 The cooperative control method for trains may include the following steps:

[0129] Step S401: Each master clock circuit receives satellite signals and provides time synchronization for the control circuits connected to it;

[0130] Step S402: Each master clock circuit synchronizes its time according to the first cycle;

[0131] Step S403: The control circuit in the master control synchronous control device communicates with the control circuits in each slave control synchronous control device through a mobile communication network to perform coordinated control of train operation.

[0132] In one specific embodiment of the present invention, the master control synchronization device further includes:

[0133] The main control redundancy control circuit is used to receive the timing signal from the master clock circuit in the main control synchronous control device and synchronize data with the control circuit in the main control synchronous control device, so as to serve as a hot standby redundancy for the control circuit in the main control synchronous control device.

[0134] In one specific embodiment of the present invention, the power supply of the master control synchronous control device includes a first power supply and a second power supply, both of which are used to supply power to the master control synchronous control device for power redundancy.

[0135] In one specific embodiment of the present invention, each slave-controlled synchronous manipulation device further includes:

[0136] The slave-controlled redundant control circuit is used to receive the time signal from the master clock circuit in the slave-controlled synchronous control device it is in, and to synchronize data with the control circuit in the slave-controlled synchronous control device it is in, so as to serve as a hot standby redundancy for the control circuit in the slave-controlled synchronous control device it is in.

[0137] In one specific embodiment of the present invention, the power supply of each slave-controlled synchronous control device includes a third power supply and a fourth power supply. The third power supply and the fourth power supply are used to supply power to their respective slave-controlled synchronous control devices for power redundancy.

[0138] In one specific embodiment of the present invention, step S402 includes:

[0139] The master clock circuit in the master control synchronous control device acquires the time of the master clock circuit in each slave control synchronous control device every first cycle.

[0140] When the difference between the time of the master clock circuit in any slave-controlled synchronous control device and the time of the master clock circuit in the master-controlled synchronous control device exceeds a first difference threshold, the master clock circuit in the slave-controlled synchronous control device is controlled to ignore the satellite signals it receives and use the time of the master clock circuit in the master-controlled synchronous control device as the current time obtained by the master clock circuit of the slave-controlled synchronous control device.

[0141] In one specific embodiment of the present invention, it further includes:

[0142] Each master clock circuit performs a verification upon receiving a satellite signal. When the verification is successful, the master clock circuit synchronizes its own time with the time in the received satellite signal.

[0143] In one specific embodiment of the present invention, for any master clock circuit, it further includes:

[0144] When satellite signals are unavailable and the duration of unavailability does not exceed the first duration threshold, the time of the master clock circuit itself is considered available in order to continue to provide time for the control circuits connected to it.

[0145] When satellite signals are unavailable and the duration of unavailability exceeds a first duration threshold, the time of the master clock circuit itself is considered unavailable, and the time of any other master clock circuit is obtained and used as the time of that master clock circuit.

[0146] In one specific embodiment of the present invention, the mobile communication network is an LTE or 5G-based mobile communication network.

[0147] In one specific embodiment of the present invention, step S403 includes:

[0148] The main control synchronous control device performs the driving control of the main control traction locomotive according to the preset driving control strategy;

[0149] According to the train control strategy, a first control signal is generated and sent to the control circuits in each slave control synchronous control device via a mobile communication network, so that the control circuit in any slave control synchronous control device can perform train control of its own slave traction locomotive according to the first control signal and the train control strategy.

[0150] In one specific embodiment of the present invention, each slave-controlled synchronous control device is divided into 1 first slave-controlled synchronous control device, N second slave-controlled synchronous control devices, and N third slave-controlled synchronous control devices.

[0151] The first slave synchronous control device and the master synchronous control device communicate via a train line; for any one second slave synchronous control device, there is a corresponding third slave synchronous control device that communicates with the second slave synchronous control device via a train line, and hot standby redundancy is achieved through data synchronization.

[0152] Step S403 includes:

[0153] In the first mode, the control circuit in the master synchronous control device communicates with the control circuits in each slave synchronous control device through a mobile communication network to perform coordinated control of train operation.

[0154] In the second mode, the control circuit in the master control synchronous control device communicates with the control circuits in each of the second slave control synchronous control devices through a mobile communication network to perform coordinated control of train operation.

[0155] In the second mode, the first slave control synchronous control device controls its own slave traction locomotive by receiving control commands sent by the master control synchronous control device; any one third slave control synchronous control device controls its own slave traction locomotive by receiving control commands sent by the second slave control synchronous control device that is in reconnection communication with it.

[0156] Corresponding to the above embodiments of the train cooperative control system and method, this embodiment of the invention also provides a train that may include a cooperative control system of the train cooperative control system as described in any of the above embodiments, which can be referred to in correspondence with the above.

[0157] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0158] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0159] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the technical solutions and core ideas of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A train cooperative control system, characterized in that, include: The main control synchronous control device is installed in the main control traction locomotive, and the slave control synchronous control devices are installed in each slave control traction locomotive. The master control synchronous control device and each of the slave control synchronous control devices include a master clock circuit and a control circuit. Each of the aforementioned master clock circuits is used to: receive satellite signals and provide time synchronization for the control circuits connected to it, and each of the aforementioned master clock circuits performs time synchronization according to a first cycle; The control circuit in the master control synchronous control device is used to: communicate with the control circuits in each slave control synchronous control device through a mobile communication network to perform coordinated control of train operation; Each of the aforementioned master clock circuits performs time synchronization according to the first cycle, including: The master clock circuit in the master control synchronous control device acquires the time of the master clock circuit in each slave control synchronous control device every first cycle; when the difference between the acquired time of the master clock circuit in any slave control synchronous control device and the time of the master clock circuit in the master control synchronous control device exceeds a first difference threshold, the master clock circuit in the slave control synchronous control device is controlled to ignore the satellite signals it receives, and the time of the master clock circuit in the master control synchronous control device is taken as the current time acquired by the master clock circuit of the slave control synchronous control device. Each master clock circuit is also used to: perform verification when a satellite signal is received, and synchronize the time of the master clock circuit itself with the time in the received satellite signal when the verification is successful; Each master clock circuit is also used for: When the satellite signal is unavailable and the duration of unavailability does not exceed the first duration threshold, the time of the master clock circuit itself is considered available so as to continue to provide time synchronization for the control circuit connected to it; when the satellite signal is unavailable and the duration of unavailability exceeds the first duration threshold, the time of the master clock circuit itself is considered unavailable, and the time of any other master clock circuit is obtained and used as the time of that master clock circuit. The control circuit in the main control synchronous manipulation device is specifically used for: According to the preset driving control strategy, the driving control of the main control traction locomotive is carried out; according to the driving control strategy, a first control signal is generated and sent to the control circuit in each of the slave control synchronous control devices through the mobile communication network, so that the control circuit in any one of the slave control synchronous control devices can carry out the driving control of its own slave control traction locomotive according to the first control signal and the driving control strategy. The first control signal is used to coordinate the driving control of each slave-controlled traction locomotive. The control circuit in any slave-controlled synchronous control device does not directly execute the first control signal, but rather analyzes the data based on the first control signal and the driving control strategy, according to the working conditions of its own carriage, to obtain the control command for its own slave-controlled traction locomotive, and performs driving control according to the control command.

2. The train cooperative control system according to claim 1, characterized in that, The master control synchronous operation device also includes: The main control redundancy control circuit is used to receive the timing signal from the main clock circuit in the main control synchronous control device and synchronize data with the control circuit in the main control synchronous control device, so as to serve as a hot standby redundancy for the control circuit in the main control synchronous control device.

3. The train cooperative control system according to claim 2, characterized in that, The power supply of the master control synchronous control device includes a first power supply and a second power supply. Both the first power supply and the second power supply are used to supply power to the master control synchronous control device for power redundancy.

4. The train cooperative control system according to claim 1, characterized in that, Each of the aforementioned slave-controlled synchronous operating devices further includes: The slave-controlled redundant control circuit is used to receive the time signal from the master clock circuit in the slave-controlled synchronous control device in which it is located, and to synchronize data with the control circuit in the slave-controlled synchronous control device in which it is located, so as to serve as a hot standby redundancy for the control circuit in the slave-controlled synchronous control device in which it is located.

5. The train cooperative control system according to claim 4, characterized in that, Each of the slave-controlled synchronous control devices has a power supply including a third power supply and a fourth power supply. Both the third power supply and the fourth power supply are used to power the slave-controlled synchronous control device to which they belong for power redundancy.

6. The train cooperative control system according to claim 1, characterized in that, The mobile communication network is an LTE or 5G-based mobile communication network.

7. The train cooperative control system according to any one of claims 1 to 6, characterized in that, Each slave control synchronous control device is divided into 1 first slave control synchronous control device, N second slave control synchronous control devices, and N third slave control synchronous control devices; The first slave synchronous control device and the master synchronous control device communicate via a train line; For any one second slave control synchronous control device, there is a corresponding third slave control synchronous control device that communicates with the second slave control synchronous control device via the train line and performs hot standby redundancy through data synchronization. In the first mode, the control circuit in the master control synchronous control device is specifically used to: communicate with the control circuits in each of the slave control synchronous control devices through a mobile communication network to perform coordinated control of train operation; In the second mode, the control circuit in the master control synchronous control device is specifically used to: communicate with the control circuits in each of the second slave control synchronous control devices through a mobile communication network to perform coordinated control of train operation; In the second mode, the first slave control synchronous control device controls its own slave traction locomotive by receiving control commands sent by the master control synchronous control device; any one of the third slave control synchronous control devices controls its own slave traction locomotive by receiving control commands sent by the second slave control synchronous control device that is in reconnection communication with it.

8. A method for coordinated control of trains, characterized in that, A master control synchronous control device is installed in the master control locomotive, and each slave control synchronous control device is installed in each slave control locomotive. Both the master control synchronous control device and each slave control synchronous control device include a master clock circuit and a control circuit. The train's cooperative control method includes: Each of the aforementioned master clock circuits receives satellite signals and provides time synchronization for the control circuits connected to it; Each of the aforementioned master clock circuits synchronizes its time according to the first cycle; The control circuit in the master control synchronous control device is connected to the control circuits in each slave control synchronous control device via a mobile communication network to perform coordinated control of train operation. Each of the aforementioned master clock circuits performs time synchronization according to the first cycle, including: The master clock circuit in the master control synchronous control device acquires the time of the master clock circuit in each slave control synchronous control device every first cycle; when the difference between the acquired time of the master clock circuit in any slave control synchronous control device and the time of the master clock circuit in the master control synchronous control device exceeds a first difference threshold, the master clock circuit in the slave control synchronous control device is controlled to ignore the satellite signals it receives and take the time of the master clock circuit in the master control synchronous control device as the current time acquired by the master clock circuit of the slave control synchronous control device. It also includes: each master clock circuit performs verification when it receives satellite signals, and when the verification is successful, it synchronizes its own time with the time in the received satellite signals; For any master clock circuit, the method further includes: when the satellite signal is unavailable and the duration of unavailability does not exceed a first duration threshold, the time of the master clock circuit itself is considered available so as to continue to provide time synchronization for the control circuit connected to it; when the satellite signal is unavailable and the duration of unavailability exceeds the first duration threshold, the time of the master clock circuit itself is considered unavailable, and the time of any other master clock circuit besides itself is obtained and used as the time of that master clock circuit itself. The control circuit in the master control synchronous control device is communicatively connected to the control circuits in each of the slave control synchronous control devices via a mobile communication network to perform coordinated control of train operation, including: The master control synchronous control device performs the driving control of the master control traction locomotive according to the preset driving control strategy; according to the driving control strategy, it generates a first control signal and sends the first control signal to the control circuit in each of the slave control synchronous control devices through a mobile communication network, so that the control circuit in any one of the slave control synchronous control devices performs the driving control of its own slave control traction locomotive according to the first control signal and the driving control strategy. The first control signal is used to coordinate the driving control of each slave-controlled traction locomotive. The control circuit in any slave-controlled synchronous control device does not directly execute the first control signal, but rather analyzes the data based on the first control signal and the driving control strategy, according to the working conditions of its own carriage, to obtain the control command for its own slave-controlled traction locomotive, and performs driving control according to the control command.

9. The train cooperative control method according to claim 8, characterized in that, Each slave control synchronous control device is divided into 1 first slave control synchronous control device, N second slave control synchronous control devices, and N third slave control synchronous control devices; N is a positive integer; The first slave synchronous control device and the master synchronous control device communicate via a train line; For any one second slave control synchronous control device, there is a corresponding third slave control synchronous control device that communicates with the second slave control synchronous control device via the train line and performs hot standby redundancy through data synchronization. The control circuit in the master control synchronous control device is communicatively connected to the control circuits in each of the slave control synchronous control devices via a mobile communication network to perform coordinated control of train operation, including: In the first mode, the control circuit in the master control synchronous control device communicates with the control circuits in each slave control synchronous control device through a mobile communication network to perform coordinated control of train operation. In the second mode, the control circuit in the master control synchronous control device communicates with the control circuits in each of the second slave control synchronous control devices through a mobile communication network to perform coordinated control of train operation. In the second mode, the first slave control synchronous control device controls its own slave traction locomotive by receiving control commands sent by the master control synchronous control device; any one of the third slave control synchronous control devices controls its own slave traction locomotive by receiving control commands sent by the second slave control synchronous control device that is in reconnection communication with it.

10. A train, characterized in that, Including the train cooperative control system as described in any one of claims 1 to 7.

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