Train speed calculation method and system and rail transit vehicle

Abstract

The invention discloses a train speed calculation method and system and a rail transit vehicle, and the method comprises the steps: judging whether the axle speed of a train is effective or not, if not, judging that an axle speed sensor for detecting the corresponding axle speed has a fault or is interfered, rejecting the corresponding axle speed, and calculating the train speed by using the remaining effective axle speed value. Based on the difference of different shaft speeds of the same bogie of the train, the speed difference of different bogies of the same train and the idling sliding state of the train, the abnormal shaft speed is diagnosed, after the abnormal speed is removed, the speed of the train is calculated more reasonably, and the reliability and safety of train operation can be better guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a train speed calculation method, system and rail transit vehicle. Background Art

[0002] At present, the calculation of rail transit train speed is based on the speed sensor installed on the axle end of the bogie to detect the speed of the wheelset or motor in real time (r / min), and then convert the speed into the corresponding axle speed (km / h). The train integrates multiple axle speeds, eliminates abnormal speeds (idling, sliding, etc.), and takes the average or maximum value as the train speed. This method can ensure the effectiveness of the speed to a certain extent, but when the speed sensor is subject to external interference, it will cause a large difference between the calculated train speed and the actual speed to a certain extent, thereby causing train operation accidents (such as emergency braking after the train exceeds the speed limit).

[0003] CN112519835A discloses a train speed determination method, device, electronic device and readable storage medium. By deleting the data collected when the sampling current is small, the data collected by some sensors under the condition of unstable current can be reduced, so that the determined second axle data can be more accurate, so as to improve the accuracy of the speed determination of the target train. When removing invalid data, it is also possible to judge the period of the axle speed sensor collecting data with unstable current. When the period of collecting data with unstable current is greater than the second specified value, the corresponding axle data is removed, so as to improve the accuracy of removing invalid data. This scheme determines that the speed is invalid by judging that the sampling current of the speed sensor is small or the number of sampling cycles when the sensor current is small. In actual applications, when the speed sensor is disturbed or fails, its current may be small or large, and the duration period of the abnormal current collection is also different. This scheme cannot solve such problems. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a train speed calculation method, system and rail transit vehicle in view of the deficiencies in the prior art, so as to more reasonably calculate the train speed and better ensure the reliability and safety of the train operation.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a train speed calculation method, comprising the following steps:

[0006] S1. Determine whether the train axle speed is valid. If not, determine that the axle speed sensor detecting the corresponding axle speed is faulty or interfered;

[0007] S2, eliminating the shaft speed detected by the shaft speed sensor that is faulty or disturbed, and using the remaining effective shaft speed values ​​to calculate the train speed;

[0008] The specific implementation process of judging whether the train axle speed is effective includes:

[0009] When the train speed V≤V1, if ΔV a >m duration t1, and there is no idling, sliding fault or sensor fault, and the speed feedback of the train subsystem is valid, then it is determined that the speed sensor corresponding to the maximum speed axis or the minimum speed axis in the bogie is abnormal, that is, the axis speed is invalid;

[0010] When the train speed V>V1, if ΔVb>n for a duration of t2, and there is no idling or sliding fault, and the feedback speed of the train subsystem is valid, it is determined that the speed sensor corresponding to the maximum speed axis or the minimum speed axis in the bogie is abnormal, that is, the axis speed is invalid;

[0011] Among them, V1 is the speed threshold, t1 and t2 are the time thresholds, ΔV a is the absolute value of the speed difference between different axles of the same bogie, ΔV b is the percentage of the difference between the different axle speeds of the same bogie, m is the axle speed detection threshold, and n is the speed percentage threshold.

[0012] The present invention diagnoses abnormal axle speeds based on the difference in axle speeds of the same bogie of the train, the speed difference between different bogies of the same car, and the idling and sliding state of the vehicle. After eliminating the abnormal speed, the speed of the train is more reasonably calculated, which can better ensure the reliability and safety of the train operation. In addition to judging the effectiveness of the speed, the present invention further judges the effectiveness of the speed by judging the difference in axle speeds of the same bogie and the axle speeds of other bogies on the same car when the speed is valid, further eliminating the possibility of speed abnormality and improving the reliability of speed calculation. Under the premise that the axle speed of the subsystem (such as TCU, BCU) is valid, the present invention further eliminates the possibility of speed abnormality. For example, although the axle speed sent by the subsystem is valid, its value may deviate significantly from the actual speed value due to interference.

[0013] In the present invention, the absolute value ΔV of the difference in speed between different axles of the same bogie is a The calculation formula is:

[0014] ΔV a =V a max-V a min;

[0015] Among them, V a max represents the maximum axle speed in the bogie, V a min represents the minimum axle speed in the bogie.

[0016] The percentage difference between the speeds of different axles of the same bogie ΔV b The calculation formula is:

[0017]

[0018] Among them, V a max represents the maximum axle speed in the bogie, V a min represents the minimum axle speed in the bogie.

[0019] In the present invention, V1=10 km / h.

[0020] In the present invention, m=2 km / h.

[0021] In the present invention, n=10%.

[0022] In the present invention, after step S1 and before step S2, the method further includes:

[0023] Determine whether the number of invalid shaft speeds is less than a set number (eg, 1). If so, proceed to step S2.

[0024] In the present invention, the train speed is set to an average value or a maximum value of the effective axle speed values.

[0025] As an inventive concept, the present invention also provides a train speed calculation system, including a memory, a processor and a computer program stored in the memory; the processor executes the computer program to implement the steps of the above method.

[0026] As an inventive concept, the present invention also provides a rail transit vehicle, which adopts the above-mentioned train speed calculation system.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention solves the problem that the axle speed of the existing train is disturbed and the detected speed is abnormal, and the axle speed abnormality (non-idling, sliding or sensor failure, etc.) causes the whole vehicle speed calculated by the train to be greatly different from the actual running speed, thereby causing the problem of unreliable train operation (for example, the detected speed is much greater than the actual speed, resulting in an emergency overspeed of the train, or the detected speed is less than the actual speed, resulting in the train being unable to normally exert traction and braking force). The present invention detects the difference in axle speeds of the same bogie, the speed difference between different bogies of the same car, and the state of vehicle idling and sliding, and after comprehensive processing, calculates the speed of the train more reasonably, thereby avoiding the occurrence of the above-mentioned problems. The method of the present invention can more reasonably calculate the speed of the train, and can better ensure the reliability and safety of the train operation. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are 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.

[0029] Example 1

[0030] This embodiment provides a method for calculating train speed, and the specific implementation process is described as follows.

[0031] When the train is running, according to the different characteristics of the speed difference of each bogie and each axle in the start-up and low-speed stages and the normal operation stage, the calculations are as follows:

[0032] 1) At the start-up and low-speed stage, that is, when the train speed is V≤V1 (V1 is the speed threshold, for example, V1=10km / h), the absolute value of the speed difference between different axles of the same bogie is ΔV a The calculation formula is as follows:

[0033] ΔV a =V a max-V a min > m Formula (1)

[0034] Where V a max represents the maximum axle speed in the bogie, V a min represents the minimum axle speed in the bogie, and m represents the detection threshold, for example, m=2km / h.

[0035] When ΔV a >m and lasts for t1s (t1 is the time threshold), there is no idling, sliding fault or sensor fault (issued by TCU or BCU), and the subsystem (such as TCU or BCU) feedback speed is valid, it is considered that the speed sensor of the maximum speed axis or the minimum speed axis in the bogie may be abnormal (such as interfered, etc.), and combined with the speed values ​​of each axle of other bogies in the same car, if only one or a few axle speeds of the train appear the above situation, it is determined that the axle speed sensor is faulty or interfered, and when comprehensively calculating the train speed, the corresponding speed signal is eliminated, and the value of the remaining effective axle speed is taken to calculate the train speed (such as taking the average or maximum value of the remaining speed as the actual running speed of the train).

[0036] 2) During normal operation, when the train speed V>V1, the percentage difference between the speeds of different axles of the same bogie is ΔV b The calculation formula is:

[0037]

[0038] Wherein, n is the speed percentage threshold, for example, n=10%.

[0039] When ΔVb>n lasts for t2s (t2 is the time threshold), and there is no idling or sliding fault, and the feedback speed of the subsystem (such as TCU or BCU) is valid, it is considered that the speed sensor of the maximum speed axis or the minimum speed axis in the bogie may be abnormal (for example, interfered, etc.), and combined with the speed values ​​of each axle of other bogies in the same car, if only one or a few axle speeds of the train have the above situation, it is determined that the corresponding axle speed sensor is faulty or interfered. When comprehensively calculating the train speed, the corresponding speed signal is eliminated, and the value of the remaining effective axle speed is taken to calculate the train speed (such as taking the average or maximum value of the remaining speed as the actual running speed of the train).

[0040] The method of this embodiment can effectively improve the accuracy of speed calculation, avoid interference or short-term failure of the speed sensor causing errors in the calculation of the speed of the entire vehicle, thereby improving the reliability and safety of train operation.

[0041] Example 2

[0042] Embodiment 2 of the present invention provides a train speed calculation system corresponding to the above-mentioned embodiment 1, and the calculation system includes a memory, a processor and a computer program stored in the memory; the processor executes the computer program in the memory to implement the steps of the method of the above-mentioned embodiment 1.

[0043] In some implementations, the memory may be a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0044] In some other implementations, the processor may be a central processing unit (CPU), a digital signal processor (DSP), or other general-purpose processors of various types, which are not limited herein.

[0045] Example 3

[0046] Embodiment 3 of the present invention provides a rail transit vehicle corresponding to the above-mentioned embodiment 2, which adopts the train speed calculation system of the above-mentioned embodiment 2.

[0047] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0048] The present application is described with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, and the combination of the process and / or box in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one process or multiple processes in the flowchart and / or one box or multiple boxes in the block diagram.

[0049] These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0050] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0051] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A train speed calculation method, characterized in that: The following steps are involved: S1. Determine whether the train axle speed is valid. If not, determine that the axle speed sensor detecting the corresponding axle speed is faulty or interfered; S2, eliminating the shaft speed detected by the shaft speed sensor that is faulty or disturbed, and using the remaining effective shaft speed values ​​to calculate the train speed; The specific implementation process of judging whether the train axle speed is effective includes: When the train speed V≤V1, if ΔV a >m duration t1, and there is no idling, sliding fault or sensor fault, and the speed feedback of the train subsystem is valid, then it is determined that the speed sensor corresponding to the maximum speed axis or the minimum speed axis in the bogie is abnormal, that is, the axis speed is invalid; When the train speed V>V1, if ΔVb>n for a duration of t2, and there is no idling or sliding fault, and the feedback speed of the train subsystem is valid, it is determined that the speed sensor corresponding to the maximum speed axis or the minimum speed axis in the bogie is abnormal, that is, the axis speed is invalid; Among them, V1 is the speed threshold, t1 and t2 are the time thresholds, ΔV a is the absolute value of the speed difference between different axles of the same bogie, ΔV b is the percentage of the difference between the different axle speeds of the same bogie, m is the axle speed detection threshold, and n is the speed percentage threshold.

2. The train speed calculation method according to claim 1, characterized in that: The absolute value of the difference in speed between different axles of the same bogie is ΔV a The calculation formula is: ΔV a =V a max-V a min; Among them, V a max represents the maximum axle speed in the bogie, V a min represents the minimum axle speed in the bogie.

3. The train speed calculation method according to claim 1, characterized in that: The percentage difference between the speeds of different axles of the same bogie ΔV b The calculation formula is: Among them, V a max represents the maximum axle speed in the bogie, V a min represents the minimum axle speed in the bogie.

4. The train speed calculation method according to any one of claims 1 to 3, characterized in that: V1=10km / h.

5. The train speed calculation method according to any one of claims 1 to 3, characterized in that: m=2km / h.

6. The train speed calculation method according to any one of claims 1 to 3, characterized in that: n＝10％。 7. The train speed calculation method according to any one of claims 1 to 3, characterized in that: The train speed is set to the average or maximum of the effective axle speed values.

8. The train speed calculation method according to any one of claims 1 to 3, characterized in that: After step S1 and before step S2, the method further includes: Determine whether the number of invalid axis speeds is less than the set number. If so, go to step S2.

9. A train speed calculation system, 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 7.

10. A rail transit vehicle, characterized in that: It adopts the train speed calculation system described in claim 8.

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