Train control method, device, equipment, medium and program based on coupler state

Abstract

The invention relates to a train operation method and device based on a coupler state, equipment, a storage medium and a computer program.The method comprises the steps that initialization processing is conducted on all gear discrete points in a discrete position domain, a discrete gear sequence set is obtained, an expected speed sequence is calculated according to the discrete gear sequence set, and the expected speed sequence is obtained; calculating a train coupler state sequence according to a pre-acquired coupler critical displacement and a discrete position domain sequence, calculating a train coupler state change sequence according to the train coupler state sequence, calculating a coupler state change index sequence according to the train coupler state change sequence, calculating a stability index sequence according to the coupler state change index sequence, and calculating a stability index sequence according to the stability index sequence; and calculating a speed following index sequence according to the expected speed sequence and a preset target speed sequence, calculating a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence, selecting an optimal gear sequence in the discrete gear sequence set according to the comprehensive evaluation index sequence, and controlling the train to run by using the optimal gear sequence.

Description

Technical Field

[0001] The present disclosure relates to the technical field of locomotive control, and in particular to a train operation method, device, equipment, storage medium and computer program based on coupler status. Background Art

[0002] Heavy-haul railways have large transport capacity, high efficiency and low transport costs, and have been internationally recognized as the direction of development of railway bulk cargo transportation. Due to the uneven distribution of resources in my country, the development of heavy-haul railway transportation is of great strategic significance for rapidly improving transportation capacity, alleviating transportation bottleneck constraints, and improving the comprehensive economic benefits of transportation. As one of the development directions of heavy-haul railway intelligence, the automatic driving of heavy-haul freight trains is more difficult to operate than urban rail transit. Drivers often need to invest a lot of time in learning to master the characteristics of heavy-haul lines.

[0003] The traditional method of operating heavy-load freight trains mainly relies on the driver's experience and skills, and lacks scientific evaluation and control methods. When operating the train, the driver can only adjust the speed and braking force of the train based on his own feelings and experience, which makes it difficult to ensure the smooth operation of the train. This method is not only inefficient, but also prone to operating errors, resulting in problems such as train shaking and impulse, affecting the safety of train operation. Summary of the invention

[0004] The present invention provides a train operation method, device, equipment, storage medium and computer program based on coupler status to improve the safety of heavy-load freight train operation.

[0005] In a first aspect, the present disclosure provides a train operation method based on a coupler state, comprising:

[0006] Initialize all gear discrete points in the discrete position domain to obtain a discrete gear sequence set;

[0007] Calculating a desired speed sequence according to the discrete gear sequence set;

[0008] Calculating a train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence, and calculating a train coupler state change sequence according to the train coupler state sequence;

[0009] Calculate a coupler state change index sequence according to the train coupler state change sequence, and calculate a stability index sequence according to the coupler state change index sequence;

[0010] Calculate a speed following index sequence according to the expected speed sequence and a preset target speed sequence;

[0011] Calculate a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence;

[0012] An optimal gear sequence in the discrete gear sequence set is selected according to the size of the comprehensive evaluation index in the comprehensive evaluation index sequence, and the train travel is controlled by using the optimal gear sequence.

[0013] In some embodiments, the calculating the expected speed sequence according to the discrete gear sequence set comprises:

[0014] The expected speed sequence is calculated using the following formula:

[0015]

[0016] Among them, V i is the i-th expected speed in the expected speed sequence, v i is the speed of the i-th gear sequence in the discrete gear sequence set, a i is the acceleration of the ith gear sequence in the discrete gear sequence set, and Δs is the preset simulation step size.

[0017] In some embodiments, the calculating of the train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence includes:

[0018] The step size of the discrete position domain is calculated using the following formula:

[0019] Δx i =x i -x i-1 -L

[0020] Where Δx i represents the step length between the ith position point and the previous position point in the discrete position domain, x i represents the i-th position point in the discrete position domain, and L represents the distance between the centroids of the adjacent carriages when the coupler is at the midpoint;

[0021] The train coupler state sequence is calculated according to the step size of the discrete position domain using the following formula:

[0022]

[0023] Among them, α i represents the i-th state value in the train coupler state sequence, Δx i represents the step length between the ith position point and the previous position point in the discrete position domain, l free It is the pre-obtained critical displacement of the coupler out of the free state.

[0024] In some embodiments, the calculating of the coupler state change index sequence according to the train coupler state change sequence and the calculating of the stability index sequence according to the coupler state change index sequence include:

[0025] The coupler state change index sequence is calculated using the following formula:

[0026]

[0027] Where β represents the coupler state change index sequence, n is the number of couplers obtained in advance, Δα i represents the i-th train coupler state change value in the train coupler state change sequence;

[0028] The following formula is used to calculate the stability index sequence based on the coupler state change index sequence:

[0029]

[0030] Wherein, J1 is the stability index sequence, N represents the number of gear sequences in the discrete gear sequence set, β i Represents the i-th coupler state change index in the coupler state change index sequence.

[0031] In some embodiments, the calculating of the speed following indicator sequence according to the expected speed sequence and the preset target speed sequence includes:

[0032] The following formula is used to calculate the speed indicator sequence:

[0033]

[0034] Wherein, J2 is the speed following index sequence, N represents the number of gear sequences in the discrete gear sequence set, V i is the i-th expected speed in the expected speed sequence, V * i is the i-th target speed in the preset target speed sequence.

[0035] In some embodiments, the calculating of a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence includes:

[0036] The comprehensive evaluation index sequence is calculated using the following formula:

[0037] J=k1·J1+k2·J2

[0038] Among them, J is the comprehensive evaluation index sequence, J1 is the stability index sequence, J2 is the speed following index sequence, k1 is the preset first weight coefficient, and k2 is the preset second weight coefficient.

[0039] In a second aspect, the present disclosure provides a train operating device based on a coupler state, comprising:

[0040] A data initialization module is used to initialize all gear discrete points in the discrete position domain to obtain a discrete gear sequence set;

[0041] a data calculation module, for calculating an expected speed sequence according to the discrete gear sequence set, calculating a train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence, calculating a train coupler state change sequence according to the train coupler state sequence, calculating a coupler state change index sequence according to the train coupler state change sequence, calculating a stability index sequence according to the coupler state change index sequence, and calculating a speed following index sequence according to the expected speed sequence and a preset target speed sequence;

[0042] A comprehensive evaluation index calculation module, used to calculate a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence;

[0043] The optimal gear sequence acquisition module is used to select the optimal gear sequence in the discrete gear sequence set according to the size of the comprehensive evaluation index in the comprehensive evaluation index sequence, and use the optimal gear sequence to control the train running.

[0044] In a third aspect, the present disclosure provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above aspects.

[0045] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method described in the above aspects when executed by a processor.

[0046] In a fifth aspect, the present disclosure provides a computer program product, including a computer program, which implements the steps of the method described in the above aspects when executed by a processor.

[0047] The present disclosure provides a train operation method, device, equipment, storage medium and computer program based on coupler status. The method includes initializing all gear discrete points in a discrete position domain to obtain a discrete gear sequence set, calculating an expected speed sequence according to the discrete gear sequence set, calculating a train coupler state sequence according to a pre-acquired coupler critical displacement and the discrete position domain sequence, calculating a train coupler state change sequence according to the train coupler state sequence, calculating a coupler state change index sequence according to the train coupler state change sequence, calculating a stability index sequence according to the coupler state change index sequence, calculating a speed following index sequence according to the expected speed sequence and a preset target speed sequence, calculating a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence, selecting an optimal gear sequence from the discrete gear sequence set according to the size of a comprehensive evaluation index in the comprehensive evaluation index sequence, and controlling the train travel using the optimal gear sequence; thereby solving the problem of insufficient safety of existing heavy-load freight locomotive control methods and improving the operation safety of heavy-load freight locomotives. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0049] Figure 1 A flow chart of a train operating method based on a coupler state provided in an embodiment of the present disclosure;

[0050] Figure 2 A functional module diagram of a train operating device based on coupler status provided in an embodiment of the present disclosure.

[0051] In the drawings, the same reference numerals are used for the same components and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the technical solution of the present disclosure, and to fully understand and implement how the present disclosure applies technical means to solve technical problems and achieve the corresponding technical effects, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the present disclosure, not all of the embodiments. The embodiments of the present disclosure and the various features in the embodiments can be combined with each other without conflict, and the technical solutions formed are all within the scope of protection of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present disclosure.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0054] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0055] Embodiment 1

[0056] Figure 1 The present invention provides a flow chart of a train operation method based on the coupler state. Figure 1 As shown, a train operating method based on a coupler state comprises:

[0057] S1. Initialize all gear discrete points in the discrete position domain to obtain a discrete gear sequence set.

[0058] In the embodiment of the present invention, the discrete position domain refers to dividing the position of the locomotive into a series of discrete states or regions during the operation of the locomotive. The discrete position domain converts the continuous spatial range of the locomotive operation into a finite number of discrete position states through a specific division method. For example, a railway line can be divided into multiple position points or regions according to a preset distance interval.

[0059] In detail, by dividing the railway line into multiple location points or areas according to preset distance intervals, it is convenient to determine the position of the locomotive in the discrete location domain, and the operating status and location information of the locomotive can be more accurately grasped, which is convenient for scheduling and monitoring.

[0060] In an embodiment of the present invention, all gear discrete points in the discrete position domain are initialized to obtain a discrete gear sequence set, which is to set a feasible gear sequence for each position point of the train in the discrete position domain, and finally obtain a gear sequence set.

[0061] In the embodiment of the present invention, all gear discrete points in the discrete position domain are initialized to obtain a discrete gear sequence set, thereby improving the efficiency of subsequent calculation of the expected speed sequence.

[0062] S2. Calculate an expected speed sequence according to the discrete gear sequence set.

[0063] In the embodiment of the present invention, the expected speed sequence is calculated according to the discrete gear sequence set, and the expected speed sequence is calculated with reference to the Euler method.

[0064] In an embodiment of the present invention, the step of calculating the expected speed sequence according to the discrete gear sequence set may be performed using an automatic driving device arranged in a train.

[0065] In detail, the Euler method is a numerical solution method widely used in science and engineering, which is used to solve the initial value problem of ordinary differential equations. The core idea of ​​this method is to use known information to predict the approximate value of a function at a certain point in the future.

[0066] In an embodiment of the present invention, the step of calculating the expected speed sequence according to the discrete gear sequence set includes:

[0067] The expected speed sequence is calculated using the following formula:

[0068]

[0069] Among them, V i is the i-th expected speed in the expected speed sequence, v i is the speed of the i-th gear sequence in the discrete gear sequence set, a i is the acceleration of the ith gear sequence in the discrete gear sequence set, and Δs is the preset simulation step size.

[0070] In the embodiment of the present invention, by calculating the expected speed sequence according to the discrete gear sequence set, the efficiency of the subsequent calculation of the speed following index sequence is improved.

[0071] S3. Calculate a train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence, and calculate a train coupler state change sequence according to the train coupler state sequence.

[0072] In an embodiment of the present invention, an automatic driving device arranged in a train can be used to execute the steps of calculating the train coupler state sequence based on the pre-acquired coupler critical displacement and the discrete position domain sequence, and calculating the train coupler state change sequence based on the train coupler state sequence.

[0073] In the embodiment of the present invention, the calculating of the train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence includes:

[0074] The step size of the discrete position domain is calculated using the following formula:

[0075] Δx i =x i -x i-1 -L

[0076] Where Δx i represents the step length between the ith position point and the previous position point in the discrete position domain, x i represents the i-th position point in the discrete position domain, and L represents the distance between the centroids of the adjacent carriages when the coupler is at the midpoint;

[0077] The train coupler state sequence is calculated according to the step size of the discrete position domain using the following formula:

[0078]

[0079] Among them, α i represents the i-th state value in the train coupler state sequence, Δx i represents the step length between the ith position point and the previous position point in the discrete position domain, l free It is the pre-obtained critical displacement of the coupler out of the free state.

[0080] In the embodiment of the present invention, the train coupler state change sequence is calculated according to the train coupler state sequence, and the train coupler state change sequence is obtained by subtracting two adjacent state values ​​in the train coupler state sequence.

[0081] In an embodiment of the present invention, by calculating the train coupler state sequence based on the pre-acquired coupler critical displacement and the discrete position domain sequence, the efficiency of calculating the train coupler state change sequence is improved, and the train coupler state change sequence is calculated based on the train coupler state sequence, thereby improving the efficiency of subsequent calculation of the coupler state change index sequence.

[0082] S4. Calculate a coupler state change index sequence according to the train coupler state change sequence, and calculate a stability index sequence according to the coupler state change index sequence.

[0083] In an embodiment of the present invention, the automatic driving equipment arranged in the train can be used to execute the steps of calculating the coupler state change index sequence according to the train coupler state change sequence and calculating the stability index sequence according to the coupler state change index sequence.

[0084] In the embodiment of the present invention, the step of calculating a coupler state change index sequence according to the train coupler state change sequence and calculating a stability index sequence according to the coupler state change index sequence includes:

[0085] The coupler state change index sequence is calculated using the following formula:

[0086]

[0087] Where β represents the coupler state change index sequence, n is the number of couplers obtained in advance, Δα i represents the i-th train coupler state change value in the train coupler state change sequence;

[0088] The following formula is used to calculate the stability index sequence based on the coupler state change index sequence:

[0089]

[0090] Wherein, J1 is the stability index sequence, N represents the number of gear sequences in the discrete gear sequence set, β i Represents the i-th coupler state change index in the coupler state change index sequence.

[0091] In the embodiment of the present invention, by calculating the coupler state change index sequence according to the train coupler state change sequence, the efficiency of calculating the stability index sequence is improved, and by calculating the stability index sequence according to the coupler state change index sequence, the efficiency of subsequent calculation of the comprehensive evaluation index sequence is improved.

[0092] S5. Calculate a speed-following index sequence according to the expected speed sequence and a preset target speed sequence.

[0093] In an embodiment of the present invention, the step of calculating the speed following index sequence according to the expected speed sequence and the preset target speed sequence may be performed by using an automatic driving device arranged in a train.

[0094] In the embodiment of the present invention, the calculating of the speed following index sequence according to the expected speed sequence and the preset target speed sequence includes:

[0095] The following formula is used to calculate the speed indicator sequence:

[0096]

[0097] Wherein, J2 is the speed following index sequence, N represents the number of gear sequences in the discrete gear sequence set, V i is the i-th expected speed in the expected speed sequence, V * iis the i-th target speed in the preset target speed sequence.

[0098] In the embodiment of the present invention, by calculating the speed following index sequence according to the expected speed sequence and the preset target speed sequence, the efficiency of the subsequent calculation of the comprehensive evaluation index is improved.

[0099] S6. Calculate a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence.

[0100] In the embodiment of the present invention, the comprehensive evaluation index sequence is a set of evaluation indexes including each gear sequence in the discrete gear sequence set.

[0101] In detail, the comprehensive evaluation index is an index coefficient used to represent the stability of a gear sequence during the current locomotive driving process.

[0102] In an embodiment of the present invention, the step of calculating the comprehensive evaluation index sequence based on the stability index sequence and the speed following index sequence may be performed using an automatic driving device disposed in a train.

[0103] In the embodiment of the present invention, the step of calculating a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence includes:

[0104] The comprehensive evaluation index sequence is calculated using the following formula:

[0105] J=k1·J1+k2·J2

[0106] Among them, J is the comprehensive evaluation index sequence, J1 is the stability index sequence, J2 is the speed following index sequence, k1 is the preset first weight coefficient, and k2 is the preset second weight coefficient.

[0107] In detail, the first weight coefficient is a coefficient used to adjust the proportion of the stability index sequence in the comprehensive evaluation index sequence. The second weight coefficient is a coefficient used to adjust the proportion of the speed following index sequence in the comprehensive evaluation index sequence.

[0108] In the embodiment of the present invention, by calculating the comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence, the efficiency of subsequent selection of the optimal gear sequence is improved.

[0109] S7. Selecting an optimal gear sequence from the discrete gear sequence set according to the size of the comprehensive evaluation index in the comprehensive evaluation index sequence, and using the optimal gear sequence to control the running of the train.

[0110] In an embodiment of the present invention, an automatic driving device arranged in a train can be used to execute the step of selecting the optimal gear sequence in the discrete gear sequence set according to the size of the comprehensive evaluation index in the comprehensive evaluation index sequence, and using the optimal gear sequence to control the travel of the train.

[0111] In an embodiment of the present invention, the selecting the optimal gear sequence in the discrete gear sequence set according to the size of the comprehensive evaluation index in the comprehensive evaluation index sequence is performed by confirming the comprehensive evaluation index of each gear sequence in the discrete gear sequence set according to the comprehensive evaluation index sequence, and selecting the gear sequence with the highest comprehensive evaluation index as the optimal gear sequence.

[0112] In an embodiment of the present invention, the optimal gear sequence in the discrete gear sequence set is selected according to the size of the comprehensive evaluation index in the comprehensive evaluation index sequence, and the train travel is controlled using the optimal gear sequence, thereby improving the stability and safety of heavy-load freight trains during operation.

[0113] Embodiment 2

[0114] Based on the above embodiments, this embodiment provides an application example.

[0115] S1. Calculate the expected speed based on the expected level

[0116] In the embodiment of the present invention, there is a discrete position x for the smooth operation optimization. i …x i+3 , the step length is Δx, and all the gear discrete points in the discrete domain are n i,j , the current gear is n notch，now , the expected gear is n target,end .

[0117] On this basis, in the process of migrating from the current gear coordinate to the desired gear, there are a large number of discrete gear sequences, and any discrete gear sequence can be set as Seq = {(x i ,n notch,now ),(x i+1 ,n i+1,j1 ),…,(x i+N ,n target,end )}, the set of all feasible discrete gear sequences is set to Set = {Seq1, Seq2, ... Seq m}.

[0118] In the embodiment of the present invention, during the initialization process, a set Set={Seq1, Seq2, ... Seq m}. For a certain gear sequence Seq m, refer to the Euler method, assuming that the simulation step is Δs, the train state of the ..th vehicle at the current moment, including the acceleration a i , the speed is v i , position s i , time is t i . For the train status of the next cycle, we have:

[0119] s i+1 =s i +Δs (1)

[0120]

[0121] t i+1 =t i +2·Δs / (v i +v i+1 ) (3)

[0122] Finally, the expected speed sequence corresponding to the gear sequence can be calculated and set as SeqSE = {v1,v2,…,v N}.

[0123] S2. Calculate the stability cost and the speed cost

[0124] In the embodiment of the present invention, the train longitudinal dynamics equation is a very complex nonlinear equation, which contains many nonlinear factors, such as the nonlinear impedance characteristics of the buffer, the coupler gap, the nonlinear working characteristics of traction and braking, etc. At present, the direct numerical integration method is mainly used to solve the nonlinear dynamic equation. The direct integration method of dynamic response for engineering applications is divided into two categories: explicit and implicit. Commonly used implicit methods include the Newmark-β method, the Wilson-θ method, and the Houbolt method; commonly used explicit methods include the central difference method, the two-loop iteration method with the trapezoidal rule, the Newmark-β fast explicit integration method, the prediction-correction integration method, and the precise integration method (PIM). According to the principle of train dynamics, there is

[0125]

[0126] Among them, [M] is the system mass matrix; [C] is the system damping matrix; [K] is the system stiffness matrix; {F} is the external force on the system. The external forces {F} on the system include: basic running resistance (including wind resistance and rolling resistance), ramp running resistance, curve resistance, braking force, traction, etc. The calculation method of each force is calculated according to the train traction calculation procedures. According to the coupler force equation, and considering the entire train as a whole, the vehicle motion equation can be obtained according to Newton's second law. Combined together, we can get:

[0127]

[0128] Among them, {k} is the position of each coupler relative to the locomotive, {s} is the position of the locomotive relative to the track, and {v} is the vehicle speed.

[0129] Now set f ele is the driving force of the traction motor on the train through the wheel-rail contact, f ele =f ele (u,v,s), is a function of control level and speed; f air is the air braking force, f air =f air (p,v,t),{F}=[f ele f air ] T .

[0130] Let f curve =f curve (s) is the resistance of the track curve to the train; let f slope =f slope (s) is the resistance force exerted by the line slope on the train; let f basic =f basic (v,s) is the combined resistance force on the train caused by wind resistance and bearing dynamic friction.

[0131] According to the characteristics, there is a gear adjustment speed Δn per second notch , according to the current speed v, and the formula t = s / v, Δn can be calculated notch,max =Δn notch ×t.

[0132] There exists a manipulation set Q = {n notch,n …n notch,1 n notch,0 n notch,1 …n notch,n}, and n notch,max =n notch,now ±Δn notch,max

[0133] Further, only the direction towards the desired gear position is taken.

[0134] f t =f t (n notch ) (6)

[0135] Q = {f ele,n …f ele,1 f ele,0 f ele,-1 …f ele,-n} (7)

[0136] When the coupler force changes dramatically, the gear change should try to meet the requirement of slow coupler state change. For example, the maintenance depot stipulates that the gear change slope Δf should be 10 seconds after coasting. max Cannot exceed a certain limit, Δf max The value should not be too large, otherwise it will cause impulse, nor too small, otherwise it will affect the speed-up and speed-down operation and affect efficiency. The quantitative index is determined according to the change of the coupler state.

[0137] Now calculate Δx in {x} j =x i -x i-1 -L. L is the distance between the centers of mass of adjacent vehicles when the coupler is at the midpoint. free is the critical displacement of the coupler out of the free state. So set the train coupler state sequence SeqTF = {α1, α2, ..., α j},have

[0138]

[0139] Each gear position corresponds to a train coupler state sequence. The coupler state sequences of two adjacent gear positions are subtracted to obtain the coupler state change sequence ΔSeqTF = {Δα1, Δα2, …, Δα j}, let the number of couplers be num, then the coupler status change index for each gear position is

[0140]

[0141] Therefore, each gear sequence has a corresponding coupler state change index sequence SeqTFC = {β1, β2, ... β N}, so the stability index of different gear sequences can be obtained as follows

[0142]

[0143] S3, speed evaluation

[0144] In the embodiment of the present invention, a specific gear sequence is calculated to obtain a corresponding expected speed sequence SeqSE = {v1, v2, ..., v N}, and the target speed sequence By comparison, the following speed indicators can be obtained:

[0145]

[0146] S4. Comprehensive evaluation indicators

[0147] In the embodiment of the present invention, the stability index and the following speed evaluation are weighted and summed to obtain a comprehensive evaluation index, which is used to evaluate the gear sequence. The formula is as follows

[0148] J=k1·J1+k2·J2 (12)

[0149] Among them, k1 and k2 are the corresponding weighting coefficients respectively.

[0150] S5. Obtaining the gear sequence

[0151] According to the above comprehensive evaluation index, the gear sequence set Set = {Seq1, Seq2, ... Seq m} calculate the corresponding index for each sequence in , and select the gear sequence with the best index.

[0152] S6, use the first control gear to control the train operation

[0153] In the embodiment of the present invention, the first gear point in the gear sequence is used as the current optimal gear suggestion, and the actual operation of the train is controlled according to the gear.

[0154] Embodiment 3

[0155] like Figure 2 As shown, it is a functional module diagram of a train operating device based on the coupler status provided for this embodiment.

[0156] The train control device 100 based on the coupler state of the present invention can be installed in an electronic device. According to the functions to be implemented, the train control device 100 based on the coupler state can include a data initialization module 101, a data calculation module 102, a comprehensive evaluation index calculation module 103 and an optimal gear sequence acquisition module 104. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0157] In this embodiment, the functions of each module / unit are as follows:

[0158] The data initialization module 101 is used to initialize all the gear discrete points in the discrete position domain to obtain a discrete gear sequence set;

[0159] The data calculation module 102 is used to calculate the expected speed sequence according to the discrete gear sequence set, calculate the train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence, calculate the train coupler state change sequence according to the train coupler state sequence, calculate the coupler state change index sequence according to the train coupler state change sequence, calculate the stability index sequence according to the coupler state change index sequence, and calculate the speed following index sequence according to the expected speed sequence and the preset target speed sequence;

[0160] The comprehensive evaluation index calculation module 103 is used to calculate a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence;

[0161] The optimal gear sequence acquisition module 104 is used to select the optimal gear sequence in the discrete gear sequence set according to the size of the comprehensive evaluation index in the comprehensive evaluation index sequence, and use the optimal gear sequence to control the train running.

[0162] Embodiment 4

[0163] On the basis of the above embodiments, this embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.

[0164] In some implementations of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of the method described in the above embodiment are implemented.

[0165] In some implementations of this embodiment, a computer program product is provided, including a computer program, characterized in that when the computer program is executed by a processor, the steps of the method described in the above embodiment are implemented.

[0166] The processor may include, but is not limited to, one or more processors or microprocessors, etc. Each processor may be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components to execute the methods in the above embodiments.

[0167] Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Computer-readable storage media may include, but are not limited to, for example, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, computer storage media (such as hard disks, floppy disks, solid-state drives, removable disks, Blu-ray disks, etc.).

[0168] The computer-readable storage medium may also store at least one computer executable program, such as a computer-readable instruction. The computer-readable storage medium includes, but is not limited to, for example, a volatile memory and / or a non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The computer-readable storage medium may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs the computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed.

[0169] In addition, the computer device may also include (but not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (eg, keyboard, mouse, speaker, etc.), etc.

[0170] The processor may communicate with external devices via an I / O bus via a wired or wireless network.

[0171] In one embodiment, the at least one computer executable instruction may also be compiled into or constitute a software product / computer program product, wherein one or more computer executable instructions are executed by a processor to perform the various functions and / or method steps in the embodiments described in the present technology.

[0172] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0173] It should be noted that in the present disclosure, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element limited by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0174] Although the embodiments disclosed in the present disclosure are as above, the above contents are only embodiments adopted for facilitating the understanding of the present disclosure and are not intended to limit the present disclosure. Any technician in the technical field to which the present disclosure belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present disclosure, but the scope of patent protection of the present disclosure shall still be subject to the scope defined in the attached claims.

Claims

1. A train operating method based on coupler status, characterized in that: include: Initialize all gear discrete points in the discrete position domain to obtain a discrete gear sequence set; Calculating a desired speed sequence according to the discrete gear sequence set; Calculating a train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence, and calculating a train coupler state change sequence according to the train coupler state sequence; Calculate a coupler state change index sequence according to the train coupler state change sequence, and calculate a stability index sequence according to the coupler state change index sequence; Calculate a speed following index sequence according to the expected speed sequence and a preset target speed sequence; Calculate a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence; An optimal gear sequence in the discrete gear sequence set is selected according to the size of the comprehensive evaluation index in the comprehensive evaluation index sequence, and the train travel is controlled by using the optimal gear sequence.

2. The method according to claim 1, characterized in that The calculating the expected speed sequence according to the discrete gear sequence set comprises: The expected speed sequence is calculated using the following formula: Among them, V i is the i-th expected speed in the expected speed sequence, v i is the speed of the i-th gear sequence in the discrete gear sequence set, a i is the acceleration of the ith gear sequence in the discrete gear sequence set, and Δs is the preset simulation step size.

3. The method according to claim 2, characterized in that The calculating of the train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence comprises: The step size of the discrete position domain is calculated using the following formula: Δx i =x i -x i-1 -L Where Δx i represents the step length between the ith position point and the previous position point in the discrete position domain, x i represents the i-th position point in the discrete position domain, and L represents the distance between the centroids of the adjacent carriages when the coupler is at the midpoint; The train coupler state sequence is calculated according to the step size of the discrete position domain using the following formula: Among them, α i represents the i-th state value in the train coupler state sequence, Δx i represents the step length between the ith position point and the previous position point in the discrete position domain, l free It is the pre-obtained critical displacement of the coupler out of the free state.

4. The method according to claim 1, characterized in that: The step of calculating a coupler state change index sequence according to the train coupler state change sequence and calculating a stability index sequence according to the coupler state change index sequence comprises: The coupler state change index sequence is calculated using the following formula: Where β represents the coupler state change index sequence, n is the number of couplers obtained in advance, Δα i represents the i-th train coupler state change value in the train coupler state change sequence; The following formula is used to calculate the stability index sequence based on the coupler state change index sequence: Wherein, J1 is the stability index sequence, N represents the number of gear sequences in the discrete gear sequence set, β i Represents the i-th coupler state change index in the coupler state change index sequence.

5. The method according to claim 4, characterized in that The calculating of the speed following index sequence according to the expected speed sequence and the preset target speed sequence includes: The following formula is used to calculate the speed indicator sequence: Wherein, J2 is the speed following index sequence, N represents the number of gear sequences in the discrete gear sequence set, V i is the i-th expected speed in the expected speed sequence, V * i is the i-th target speed in the preset target speed sequence.

6. The method according to claim 5, characterized in that The calculating of the comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence comprises: The comprehensive evaluation index sequence is calculated using the following formula: J=k1·J1+k2·J2 Among them, J is the comprehensive evaluation index sequence, J1 is the stability index sequence, J2 is the speed following index sequence, k1 is the preset first weight coefficient, and k2 is the preset second weight coefficient.

7. A train control device based on the coupler state, characterized in that: include: A data initialization module is used to initialize all gear discrete points in the discrete position domain to obtain a discrete gear sequence set; a data calculation module, for calculating an expected speed sequence according to the discrete gear sequence set, calculating a train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence, calculating a train coupler state change sequence according to the train coupler state sequence, calculating a coupler state change index sequence according to the train coupler state change sequence, calculating a stability index sequence according to the coupler state change index sequence, and calculating a speed following index sequence according to the expected speed sequence and a preset target speed sequence; A comprehensive evaluation index calculation module, used to calculate a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence; The optimal gear sequence acquisition module is used to select the optimal gear sequence in the discrete gear sequence set according to the size of the comprehensive evaluation index in the comprehensive evaluation index sequence, and use the optimal gear sequence to control the train running.

8. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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