Railway vehicle skid brake control method and system

Abstract

The invention discloses a rail vehicle skid brake control method and system, and relates to the technical field of vehicle engineering. The control method comprises the steps that the number of matched first skid modules is determined as the target number according to the preset deceleration ranges where the target deceleration of the railway vehicle is located, the multiple preset deceleration ranges do not coincide, and the preset deceleration ranges are matched with the different first skid modules in number; and the target number of first skid modules are controlled to fall so as to conduct braking. According to the method, the preset deceleration range where the corresponding target deceleration is located is determined according to the current actual braking requirement of the railway vehicle, then a proper number of first skid modules are controlled to fall down for braking, if the remaining first skid modules still exist, the remaining first skid modules are kept at the initial non-falling position, the braking control accuracy can be improved, and the braking effect is improved. And overlarge braking deceleration caused by falling of all the first skid modules is avoided, and the comfort level of passengers during skid braking can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle engineering, and in particular to a rail vehicle skid braking control method and system. Background Art

[0002] In the low-speed stage of the existing high-speed maglev train safety braking process, the eddy current brake is removed and the vehicle stops by the friction between the sled and the track. At present, when the sled brakes, all the sleds on the rail vehicle are directly controlled to fall at the same time, resulting in different braking distances under different load conditions when the vehicle lands, and the excessive braking deceleration affects the riding comfort of passengers.

[0003] Therefore, how to improve the passenger comfort during skid braking is a technical problem that those skilled in the art need to solve at present. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a rail vehicle sled braking control method and system, which can improve the passenger comfort during sled braking.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A rail vehicle skid braking control method is applied to a rail vehicle, wherein the rail vehicle comprises a plurality of first skid modules that can be used for braking;

[0007] The control method comprises:

[0008] According to the target deceleration of the rail vehicle The preset deceleration range is determined to be a target number of the number of the first sled modules, wherein the preset deceleration ranges are multiple and do not overlap, and each of the preset deceleration ranges is matched with a different number of the first sled modules;

[0009] The target number of the first sled modules are controlled to fall down to perform braking.

[0010] Preferably, the rail vehicle comprises a plurality of vehicle bodies, and the step of controlling the target number of the first sled modules to fall down for braking comprises:

[0011] Controlling an equal amount of the first sled modules on each of the vehicle bodies to fall down to perform braking;

[0012] The sum of the first skid modules of all the vehicle bodies falling is the target number.

[0013] Preferably, the target deceleration of the rail vehicle The preset deceleration range previously also includes:

[0014] Determine, according to the speed of the rail vehicle, a reference deceleration A provided when each of the first sled modules on the rail vehicle falls to a preset braking height;

[0015] The reference deceleration is , is the friction coefficient between the track and the first sled module, which is related to the speed V of the rail vehicle, N is the positive pressure on the first sled module, and M is the real-time mass of the rail vehicle. Specifically, each body of the high-speed maglev vehicle is provided with 16 air springs, and the pressure sensor detects the pressure of each air spring and transmits it to the controller to calculate the real-time mass M of the vehicle;

[0016] Determining each of the preset deceleration ranges according to the reference deceleration A;

[0017] Each of the vehicle bodies includes N first skid modules, N ≥ 2 and is a positive integer, and each of the preset deceleration ranges is not less than and less than deceleration interval, i is the number of the first skid modules on each of the vehicle bodies, i is a positive integer, i≤N, , ;

[0018] The step of controlling the target number of the first sled modules to fall is:

[0019] The target number of the first sled modules are controlled to drop to the preset braking height.

[0020] Preferably, each of the vehicle bodies comprises N first skid modules, where N is ≥ 2 and is a positive integer;

[0021] Wherein, on each of the vehicle bodies:

[0022] Along the forward direction of the rail vehicle, the N first sled modules are arranged in sequence from front to back, and the first sled modules are numbered in sequence, and the number of the first sled modules at each end is greater than the number of the first sled modules in the middle;

[0023] The controlling the first sled modules of equal amount on each of the vehicle bodies to fall down comprises:

[0024] Control the first I first sled modules numbered on each vehicle body to fall, where the I first sled modules are the total number of the first sled modules that need to fall on the vehicle body.

[0025] Preferably, on the rail vehicle, along the traveling direction, the first vehicle body is the head vehicle, and the last vehicle body is the tail vehicle, and the head vehicle and the tail vehicle further have a second sled module, and the second sled module is connected to a positioning and speed measuring sensor;

[0026] The control method further comprises:

[0027] After the rail vehicle stops, the second skid module is controlled to drop to a set height.

[0028] Preferably, the first skid modules on each of the vehicle bodies are divided into a plurality of batches;

[0029] When the first sled module falls, the method comprises:

[0030] When the largest batch of the currently falling first sled modules is smaller than the total batches and the first sled modules of the largest batch fall to a first height, the first sled modules of the next batch have fallen to a second height above the first height.

[0031] Preferably, the step of controlling the target number of the first sled modules to fall down to perform braking further comprises:

[0032] Get the instantaneous deceleration of the rail vehicle:

[0033] When the instantaneous deceleration is less than the target deceleration When the first sled module that has fallen for braking is controlled, the suspension controller corresponding to the first sled module that has fallen is controlled to reduce the output current to increase the braking force of the first sled module that has fallen.

[0034] Preferably, the controlling the suspension controller corresponding to the first sled module that has fallen to reduce the output current includes:

[0035] When the current output is 0 and exceeds the predetermined waiting time, the instantaneous deceleration of the rail vehicle obtained again is still greater than the target deceleration , and when the target number is less than the total number of the first sled modules on the rail vehicle, a selected number of the first sled modules are controlled to fall to provide braking force.

[0036] Preferably, the step of controlling the target number of the first sled modules to fall down to perform braking further comprises:

[0037] Get the instantaneous deceleration of the rail vehicle, when the instantaneous deceleration> the target deceleration hour:

[0038] The suspension controller corresponding to the first sled module that has fallen for braking is controlled to increase the output current to reduce the braking force of the first sled module that has fallen.

[0039] A rail vehicle skid brake control system is applied to a rail vehicle, wherein the rail vehicle comprises a plurality of first skid modules that can be used for braking;

[0040] The control system comprises:

[0041] The judgment module is used to determine the target deceleration of the rail vehicle. The preset deceleration range is determined to be a target number of the number of the first sled modules, wherein the preset deceleration ranges are multiple and do not overlap, and each of the preset deceleration ranges is matched with a different number of the first sled modules;

[0042] A control module is used to control the target number of the first sled modules to fall down for braking.

[0043] The rail vehicle sled braking control method provided by the present invention is applied to a rail vehicle, wherein the rail vehicle includes a plurality of first sled modules that can be used for braking; the control method includes: determining the number of matching first sled modules as a target number according to a preset deceleration range in which a target deceleration of the rail vehicle is located, wherein the preset deceleration range has a plurality of non-overlapping ones, and each preset deceleration range matches a different number of first sled modules; and controlling the target number of first sled modules to fall for braking.

[0044] In this method, the preset deceleration range of the corresponding target deceleration is determined according to the actual braking demand of the rail vehicle, and then an appropriate amount of the first sled modules are controlled to fall for braking. If there are any remaining first sled modules, they are kept in the initial non-falling position, which can improve the accuracy of braking control, avoid excessive braking deceleration caused by the falling of all the first sled modules, and improve passenger comfort during sled braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0046] FIG1 is a schematic diagram of a rail vehicle to which the control method provided by the present invention is applied;

[0047] FIG2 is a distribution diagram of the skids on the lead vehicle in FIG1 ;

[0048] FIG3 is a distribution diagram of the skids on the No. 1 intermediate car in FIG1 ;

[0049] FIG4 is a distribution diagram of the skids on the No. 2 intermediate car in FIG1 ;

[0050] FIG5 is a distribution diagram of the skids on the tail car in FIG1 ;

[0051] FIG6 is a flow chart of the control method provided by the present invention.

[0052] Reference numerals:

[0053] The first sled module 1 and the second sled module 2 . DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] The core of the present invention is to provide a rail vehicle sled braking control method and system, which can improve the passenger comfort during sled braking.

[0056] The rail vehicle skid braking control method provided by the present invention is applied to a rail vehicle, wherein the rail vehicle comprises a plurality of first skid modules 1 that can be used for braking, and the first skid module 1 comprises one or more skids. Specifically, the first skid modules 1 can be divided according to suspension frames, and all skids on one first skid module 1 are located on the same suspension frame.

[0057] As shown in Figures 1 to 4, the rail vehicle includes a plurality of car bodies, namely, a head car, a tail car and intermediate cars arranged at the ends, wherein the head car and the tail car can be switched according to the direction of travel. The head car, the tail car and the intermediate car can be provided with a first skid module 1 respectively. The number of first skid modules 1 on each car body may be the same or different, and the number of skids of each first skid module 1 may be the same or different. As shown in Figures 1 to 4, each car body is equipped with 4 suspension frames, and each suspension frame is provided with 4 skids. For the intermediate car, 4 suspension frames correspond to 4 first skid modules 1. For the head car and the tail car, 3 suspension frames correspond to 3 first skid modules 1, and the 2 skids on the remaining suspension frames correspond to another first skid module 1.

[0058] In a specific embodiment 1, the control method includes the following steps:

[0059] S1: According to the target deceleration of the rail vehicle The preset deceleration range determines that the number of matching first sled modules 1 is the target number.

[0060] There are multiple preset deceleration ranges that do not overlap, and each preset deceleration range matches a different number of first sled modules 1. Specifically, the larger the deceleration value of the preset deceleration range, the more the number of first sled modules 1 that match it.

[0061] S2: Control a target number of first sled modules 1 to fall down for braking.

[0062] The falling of the first sled module 1 means that all sleds in the first sled fall synchronously and in the same falling condition.

[0063] The descent of each sled for braking is achieved through a corresponding suspension controller on the rail vehicle, and the gap between each sled and the rail is controlled by a corresponding suspension controller.

[0064] In this embodiment, according to the actual braking demand of the rail vehicle, the preset deceleration range of the corresponding target deceleration is determined, and then an appropriate amount of the first sled modules 1 are controlled to fall for braking. If there are any remaining first sled modules 1, they are maintained in the initial non-falling position, which can improve the accuracy of braking control, avoid excessive braking deceleration caused by the falling of all the first sled modules 1, and improve passenger comfort during sled braking.

[0065] Furthermore, S2 specifically includes:

[0066] S20: Controlling the first sled modules 1 of equal amount on each vehicle body to fall down to perform braking;

[0067] The total number of first skid modules 1 dropped from all vehicle bodies is the target number.

[0068] Among them, the first sled modules 1 that fall equally on each vehicle body are the first quantity I. At this time, the target quantity = the total number of vehicle bodies M × the first quantity I. When setting the selectable target quantity, it is an integer multiple of the total number of vehicle bodies M, and the first quantity I is not more than the number of the first sled modules 1 respectively possessed by each vehicle body.

[0069] In addition, since the target number matches the preset deceleration range, and one target number corresponds to the first number I of the first sled modules 1 that can be determined to fall on each vehicle body, the first number I also matches the preset deceleration range. When the vehicle is in the preset deceleration range, it is not necessary to determine the target number, and the first number I of the first sled modules that need to be dropped by each vehicle body can be directly obtained.

[0070] At this time, since each vehicle body drops the same amount of the first sled module 1 during braking, the braking demand is evenly distributed to each vehicle body, which can further improve the stability of braking. Of course, in other embodiments, as needed, the first sled modules 1 dropped by each vehicle body can also be unequal. For example, when one vehicle body has 3 first sled modules and the other vehicle body has 5 first sled modules, and the target number is 7, the first vehicle body can drop 3 first sled modules and the second vehicle body can drop 4 first sled modules.

[0071] To facilitate the setting of each preset deceleration range, it can be set specifically in combination with the vehicle speed V of the rail vehicle and the number of first sled assemblies, thereby improving the correlation between the preset deceleration range and the current operating conditions and improving the accuracy of braking.

[0072] Specifically, before S1, it also includes:

[0073] S10: Determine, according to the speed of the rail vehicle, a reference deceleration A provided when all first sled modules 1 on the rail vehicle fall to a preset braking height.

[0074] The base deceleration is , is the friction coefficient between the rail and the first sled module 1, which is related to the speed V of the rail vehicle, N is the positive pressure exerted on the first sled module 1, and M is the real-time weight of the rail vehicle.

[0075] The preset braking height of the sled may be determined based on the track height at which the rail vehicle is currently located as a reference height, that is, a position that differs from the track height by a set value.

[0076] S11: According to the reference deceleration A, various preset deceleration ranges are determined.

[0077] Each vehicle body includes N first skid modules 1, N ≥ 2 and is a positive integer, and the preset deceleration ranges are also the same N. Each preset deceleration range is not less than and less than The deceleration interval is, i is the number of the first skid modules 1 on each vehicle body, i is a positive integer, i≤N, , .

[0078] Taking FIG. 2 to FIG. 5 as an example, each vehicle body includes N=4 first sled modules, and the critical values ​​for dividing the preset deceleration range include:

[0079] a0=0, , , ;

[0080] when < When the vehicle speed V>0, the first number I=i=1, and each vehicle body drops a first skid module 1;

[0081] when ≤ < When the vehicle speed V>0, the first number I=i=2, and each vehicle body drops two first skid modules 1;

[0082] when ≤ < When the vehicle speed V>0, the first number I=i=3, and each vehicle body drops three first skid modules 1;

[0083] when ≤ When the vehicle speed V>0, the first number I=i=4, and four first skid modules 1 are dropped from each vehicle body.

[0084] It should be noted that, in this type of rail vehicle, the difference between the reference deceleration A and the deceleration provided when all the first sled modules 1 of each vehicle body fall to the preset braking height is within the preset allowable error range. In addition, each first sled module 1 may include one or more sleds, and the falling of the first sled module 1 means that all sleds in the first sled module 1 fall. The number of sleds in different first sled modules 1 may be the same or different. In order to improve the accuracy of deceleration control, that is, to improve the matching of the first number I with the preset deceleration range, if the vehicle structure permits, the number of sleds in different first sled modules 1 is the same or the difference should be as small as possible, such as 1 or 2. In this embodiment, in Figures 2 and 3, a first sled module 1 on the head vehicle has 2 sleds, and the number of sleds in the remaining first sled modules 1 and the number of sleds in the first sled module 1 in the middle vehicle are all 4.

[0085] On this basis, S2: controlling the target number of first sled modules 1 to fall, specifically:

[0086] The target number of first sled modules 1 are controlled to drop to a preset braking height to accurately match the division of the current preset deceleration range.

[0087] In addition, regarding the falling order of the first sled module 1 on each vehicle body, specifically, on each vehicle body, along the forward direction of the rail vehicle (in FIGS. 1 to 5 , the arrow points forward):

[0088] The N first sled modules 1 are arranged sequentially from front to back, and the first sled modules 1 are numbered sequentially, and the number of the first sled modules 1 at each end is greater than the number of the first sled modules 1 in the middle.

[0089] Accordingly, S20: controlling the first sled modules 1 of equal quantity on each vehicle body to fall down, comprising:

[0090] The first sled modules 1 numbered first and second (including the first sled modules 1) on each vehicle body are controlled to fall, and I is the total number of the first sled modules 1 that need to fall on the vehicle body.

[0091] Specifically, on each vehicle body, along the direction from front to back or from back to front, except for the first first skid module 1, each first skid module 1 is numbered in sequence, with N-1 integers numbered between 1 and N-1, and the first first skid module 1 has the largest number, which is N.

[0092] Among them, for the leading car, the first sled module 1 with the largest number is located at the front end, and the numbers of the remaining first sled modules 1 increase from front to back. For the trailing car, the first sled module 1 with the largest number is located at the rear end, and the numbers of the remaining first sled modules 1 increase from back to front. For the middle car, if the distance from the leading car and the trailing car is the same, the numbering sequence can be the same as that of any one of the leading car and the trailing car; if the distance from the leading car and the trailing car is different, the numbering sequence can be the same as that of the closer one, as shown in Figures 2 and 3, and Figures 4 and 5. Of course, in other embodiments, all car bodies can have the same arrangement sequence as the first sled modules 1 on the leading car; or all middle cars can have the same arrangement sequence as the first sled modules 1 on the leading car, and the sled modules on the trailing car and the leading car are symmetrically arranged.

[0093] Still taking the above embodiment where N=4 as an example for description, at this time, each vehicle body has, from front to back, the first skid module No. 4, the first skid module No. 1, the first skid module No. 2, and the first skid module No. 3, or the first skid module No. 3, the first skid module No. 2, the first skid module No. 1, and the first skid module No. 4:

[0094] When the first number I=1, each vehicle body drops the first skid module No. 1;

[0095] When the first number I=2, each vehicle body drops the first skid module No. 1 and No. 2.

[0096] When the first number I=3, each vehicle body drops the first skid modules No. 1, No. 2 and No. 3;

[0097] When the first number I=4, each vehicle body drops first skid modules No. 1, No. 2, No. 3 and No. 4.

[0098] In order to determine the braking position, the leading car and the trailing car are also provided with a second sled module 2, and on the leading car, the second sled module 2 is located at the front end of each first sled module, and on the trailing car, the second sled module 2 is located at the rear end of each first sled module 1. The second sled module 2 is connected to a positioning speed sensor, specifically, a positioning speed sensor is provided on the suspension magnet corresponding to the suspension beam of the leading car and the trailing car, and the second sled module 2 rises and falls synchronously with the suspension magnet.

[0099] The control method, after S2 braking is completed, also includes:

[0100] S3: After the rail vehicle stops (the speed of the rail vehicle V=0), the second sled module 2 is controlled to drop to a set height.

[0101] The set height may be the same as or different from the preset braking height.

[0102] Among them, in S2, the target number of first sled modules 1 are controlled to fall to the preset braking height. During the braking process, the vehicle speed V>0. When V=0, enter S3. At this time, the second sled module 2 is controlled to fall to the set position, and all the first sled modules can also be controlled to fall at the same time.

[0103] Since the second sled module 2 is not raised or lowered during the braking process, the influence on the measurement of the speed sensor positioned thereon can be avoided, thereby ensuring the accuracy of the measurement.

[0104] In order to reduce the impact force of braking and improve the braking efficiency, the sled can also be pre-controlled to fall. The first sled modules 1 on each vehicle body are divided into multiple batches, so that the corresponding first sled modules 1 can be controlled to fall in batches.

[0105] Specifically, when the first sled module 1 falls, the process includes:

[0106] The largest batch in the currently falling first sled modules 1 is smaller than the total batch, and when the first sled modules 1 of the largest batch in the currently falling first sled modules 1 fall to the first height, the first sled modules 1 of the next batch have fallen and fall to a second height above the first height.

[0107] Specifically, the first height can be a preset braking height, and the second height is the height of the first sled module 1 from the initial height (with a suspension gap between the first sled module 1 and the track). ) descends to the height before the preset braking height (the braking gap between the rails is ), < .

[0108] In this embodiment, the first sled modules 1 are divided into batches according to their numbers. The first sled modules 1 with the same numbers on each vehicle body are in the same batch, and the order of the batches can correspond to the order of the numbers of the first sled modules 1. The first sled module No. 1 corresponds to batch 1, the first sled module No. 2 corresponds to batch 2, the first sled module No. 3 corresponds to batch 3, and the first sled module No. 4 corresponds to batch 4. Of course, in other embodiments, the positions of the vehicle bodies can also be used. For example, the first sled module on the lead vehicle is batch 1, the first sled module on the second vehicle body is batch 2, and so on from front to back.

[0109] Among them, in S2, the first sled modules of the target number are controlled to fall, and the first sled modules of the target number 1 can fall at the same time. For example, when I=2, the first sled modules of batches 1 and 2 fall at the same time. The current largest batch is 2, and the next batch is 3. In this process, the first sled modules of batches 3 fall. When the first sled modules of the current two batches fall to the first height, the first sled modules of batches 3 fall to the second height. Alternatively, in S2, when the first sled modules of the target number are controlled to fall, if they include first sled modules of different batches, they can also fall in order according to the batch order.

[0110] For example, when < When the vehicle speed V>0, it is necessary to drop a batch of first sled module No. 1. When first sled module No. 1 drops, first sled module No. 2 drops as well. The gap between first sled module No. 2 and the track is reduced from the suspended gap value to the braking gap value, so as to reduce the influence of the falling time of the sled in first sled module No. 2 on the braking force. When first sled module No. 1 and first sled module No. 2 are both dropped into place, first sled module No. 3 is reduced from the suspended gap value to the braking gap value, so as to prepare for generating braking force.

[0111] In this embodiment, after the current first sled module 1 falls into place, the first sled modules 1 of the next batch have already fallen to a certain height, ready to enter the braking state, to achieve sled fall pre-control, thereby improving braking efficiency.

[0112] In addition, in S2: during the braking process, that is, after the target number of first sled modules 1 have fallen to the preset braking height and before stopping, the method further includes:

[0113] S21: Obtain the instantaneous deceleration of the rail vehicle.

[0114] The instantaneous deceleration of the rail vehicle can be calculated by the relevant sensors and controllers on the rail vehicle. Specifically, the rail vehicle can be a high-speed maglev train, which can obtain the real-time speed of the train through the absolute position sensor and the relative position sensor on the high-speed maglev train, and the instantaneous deceleration can be obtained by derivation of the real-time speed of the train.

[0115] Among them, S1 obtains the instantaneous deceleration of the rail vehicle, which can be performed after a set time has passed since the first sled modules 1 of the target number S2 have fallen into place, and the number of times it is performed can be once, or once at a certain interval.

[0116] S22: Determine the magnitude relationship between the instantaneous deceleration and the target deceleration a. If the instantaneous deceleration is less than the target deceleration a, When the instantaneous deceleration is greater than the target deceleration, enter S23. , enter S24.

[0117] At this time, S2: controls the target number of first sled modules to fall for braking, which is a coarse adjustment process of the deceleration provided by the first sled module 1, while S21-S24 is a precise control process of the braking force provided by the first sled module, which can further improve the accuracy of deceleration control and parking position.

[0118] S23: Control the suspension controller corresponding to the first sled module 1 that has fallen for braking to reduce the output current to reduce the suspension force generated by the suspension magnet of the corresponding vehicle body, thereby increasing the braking force of the first sled module 1 that has fallen.

[0119] Among them, instantaneous deceleration < target deceleration Possible reasons include track icing conditions, the actual friction coefficient being much smaller than the set value, etc.

[0120] Among them, when the sled contacts the track (the gap is 0), the suspension current can be adjusted through the suspension controller corresponding to the sled to change the suspension force, thereby adjusting the positive pressure of the sled on the track, changing the friction and braking force provided by the sled, and affecting the deceleration. The suspension magnet is set corresponding to the sled. When the suspension controller reduces the current, the suspension force becomes smaller, and the positive pressure on the corresponding sled becomes larger, and it will fall further to increase the friction and braking force, increasing the real-time deceleration; when the current is increased, the suspension force becomes larger, and the positive pressure on the corresponding sled becomes smaller, and it will rise further to reduce the friction and braking force, reducing the real-time deceleration.

[0121] It should be noted that the first sled module still has space to fall when it falls to the preset braking position. In this case, the first sled module that has fallen to the preset braking position can be controlled to fall further to increase the braking force, which is convenient for control.

[0122] Based on S23, it also includes:

[0123] S231: When the current output is 0 and exceeds the predetermined waiting time, the instantaneous deceleration of the rail vehicle obtained again is still greater than the target deceleration , and when the target number is less than the total number of first sled modules 1 on the rail vehicle, a selected number of first sled modules 1 are controlled to fall to provide braking force.

[0124] At this time, the maximum braking force that can be provided by the first sled module 1 that has fallen still cannot meet the current deceleration requirement, and there are still remaining first sled modules 1 that can be put into use. In this case, these remaining first sled modules 1 are used for braking to meet the braking requirements and improve the accuracy of deceleration control.

[0125] It should be noted that in S231, a selected number of first slide modules 1 are controlled to fall to provide braking force. In this step, the selected number can be selected according to actual conditions. For example, a total of one rail vehicle falls, or one is selected for each vehicle body. The target position to which it falls can be a preset braking height, or other heights that can provide braking, such as the same height as other first slide shoe modules that are currently providing braking.

[0126] S24: controlling the suspension controller corresponding to the first sled module 1 that has fallen for braking to increase the output current to reduce the braking force of the first sled module 1 that has fallen.

[0127] At this time, the heights at which all the first sled modules 1 that have fallen to perform braking are lifted can be the same. In addition, in other embodiments, the lifting of all the first sled modules 1 that are controlled to perform braking in S24 can also be changed to controlling some of them to be lifted.

[0128] Among them, for the setting of the lifting height, the instantaneous deceleration and the target deceleration can be The corresponding relationship can be pre-stored in the control system. When the difference is obtained, the height that the first sled module 1 that has fallen needs to be raised is determined accordingly. Generally, the larger the difference, the larger the corresponding lifting height. Of course, in other embodiments, the height setting can be set to a fixed value for the convenience of controlling the lifting.

[0129] In addition, in other embodiments, when the slide is provided with a lifting drive mechanism, such as a hydraulic cylinder, the height of the slide can also be adjusted by controlling the lifting drive mechanism.

[0130] In the rail vehicle of this embodiment, in the sled braking control, the sleds of each vehicle body are appropriately grouped according to their positions to form different first sled modules 1, and the sleds are grouped and dropped, specifically by the vehicle controller according to the preset target deceleration. Or the target deceleration issued by the operation control in real time and deceleration threshold , , By comparing and judging the number of groups of falling sleds, the suspension controller then controls the timing of the falling of each group of sleds according to their position codes to perform rough control of the deceleration. The pressure of the vehicle on the track is then controlled by adjusting the suspension current to achieve precise control of the deceleration. This allows the pressure of each sled and the number of sleds falling on the entire vehicle to be flexibly controlled based on the vehicle speed at different time points to achieve precise control of sled braking.

[0131] In addition to the above-mentioned rail vehicle sled braking control method, the present invention also provides a rail vehicle sled braking control system, which can implement the above-mentioned rail vehicle sled braking control method, and the beneficial effects can be referred to the above-mentioned embodiments accordingly.

[0132] The control system includes:

[0133] The judgment module is used to determine the target deceleration of the rail vehicle. The preset deceleration range is determined to be the target number of the number of the first sled modules 1, wherein there are multiple preset deceleration ranges that do not overlap, and each preset deceleration range matches a different number of the first sled modules 1;

[0134] The control module is used to control a target number of first sled modules 1 to fall down for braking.

[0135] It should be noted that when an element is referred to as "fixed" to another element, it may be directly on the other element or there may be an element in the middle. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an element in the middle. In addition, in the description of the present invention, unless otherwise specified, "multiple", "multiple roots", "multiple groups" mean two or more.

[0136] The terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0137] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0138] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0139] The rail vehicle sled braking control method and system provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A rail vehicle skid brake control method, characterized in that: Applied to a rail vehicle, the rail vehicle comprises a plurality of first skid modules that can be used for braking; The control method comprises: According to the target deceleration of the rail vehicle The preset deceleration range is determined to be a target number of the number of the first sled modules, wherein the preset deceleration ranges are multiple and do not overlap, and each of the preset deceleration ranges is matched with a different number of the first sled modules; The target number of the first sled modules are controlled to fall down to perform braking.

2. The control method according to claim 1, characterized in that: The rail vehicle includes a plurality of vehicle bodies, and the step of controlling the target number of the first sled modules to fall down for braking includes: Controlling an equal amount of the first sled modules on each of the vehicle bodies to fall down to perform braking; The sum of the first skid modules of all the vehicle bodies falling is the target number.

3. The control method according to claim 2, characterized in that: The target deceleration of the rail vehicle The preset deceleration range previously also includes: Determine, according to the speed of the rail vehicle, a reference deceleration A provided when each of the first sled modules on the rail vehicle falls to a preset braking height; The reference deceleration is , is the friction coefficient between the track and the first sled module, which is related to the speed V of the rail vehicle, N is the positive pressure on the first sled module, and M is the real-time mass of the rail vehicle. Specifically, each body of the high-speed maglev vehicle is provided with 16 air springs, and the pressure sensor detects the pressure of each air spring and transmits it to the controller to calculate the real-time mass M of the vehicle; Determining each of the preset deceleration ranges according to the reference deceleration A; Each of the vehicle bodies includes N first skid modules, N ≥ 2 and is a positive integer, and each of the preset deceleration ranges is not less than and less than deceleration interval, i is the number of the first skid modules on each of the vehicle bodies, i is a positive integer, i≤N, , ; The step of controlling the target number of the first sled modules to fall is: The target number of the first sled modules are controlled to drop to the preset braking height.

4. The control method according to claim 2, characterized in that: Each of the vehicle bodies comprises N first skid modules, where N is ≥ 2 and is a positive integer; Wherein, on each of the vehicle bodies: Along the forward direction of the rail vehicle, the N first sled modules are arranged in sequence from front to back, and the first sled modules are numbered in sequence, and the number of the first sled modules at each end is greater than the number of the first sled modules in the middle; The controlling the first sled modules of equal amount on each of the vehicle bodies to fall down comprises: Control the first I first sled modules numbered on each vehicle body to fall, where the I first sled modules are the total number of the first sled modules that need to fall on the vehicle body.

5. The control method according to claim 2, characterized in that: On the rail vehicle, along the traveling direction, the first vehicle body is the head vehicle, and the last vehicle body is the tail vehicle, and the head vehicle and the tail vehicle are further provided with a second sled module, and the second sled module is connected with a positioning and speed measuring sensor; The control method further comprises: After the rail vehicle stops, the second skid module is controlled to drop to a set height.

6. The control method according to any one of claims 1 to 5, characterized in that: The first skid modules on each of the vehicle bodies are divided into a plurality of batches; When the first sled module falls, the method comprises: When the largest batch of the currently falling first sled modules is smaller than the total batches and the first sled modules of the largest batch fall to a first height, the first sled modules of the next batch have fallen to a second height above the first height.

7. The control method according to any one of claims 1 to 5, characterized in that: The controlling the target number of the first sled modules to fall down to perform braking, during the braking process, further includes: Get the instantaneous deceleration of the rail vehicle: When the instantaneous deceleration is less than the target deceleration When the first sled module that has fallen for braking is controlled, the suspension controller corresponding to the first sled module that has fallen is controlled to reduce the output current to increase the braking force of the first sled module that has fallen.

8. The control method according to claim 7, characterized in that: The controlling the suspension controller corresponding to the first sled module that has fallen to reduce the output current includes: When the current output is 0 and exceeds the predetermined waiting time, the instantaneous deceleration of the rail vehicle obtained again is still greater than the target deceleration , and when the target number is less than the total number of the first sled modules on the rail vehicle, a selected number of the first sled modules are controlled to fall to provide braking force.

9. The control method according to any one of claims 1 to 5, characterized in that: The controlling the target number of the first sled modules to fall down to perform braking, during the braking process, further includes: Get the instantaneous deceleration of the rail vehicle, when the instantaneous deceleration> the target deceleration hour: The suspension controller corresponding to the first sled module that has fallen for braking is controlled to increase the output current to reduce the braking force of the first sled module that has fallen.

10. A rail vehicle skid brake control system, characterized in that: Applied to a rail vehicle, the rail vehicle comprises a plurality of first skid modules that can be used for braking; The control system comprises: The judgment module is used to determine the target deceleration of the rail vehicle. The preset deceleration range is determined to be a target number of the number of the first sled modules, wherein the preset deceleration ranges are multiple and do not overlap, and each of the preset deceleration ranges is matched with a different number of the first sled modules; A control module is used to control the target number of the first sled modules to fall down for braking.

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