Train speed calculation method, system and rail transit vehicle

Abstract

The application discloses a train speed calculation method and system and a rail transit vehicle. Whether the train axle speed is valid is judged. If not, it is determined that the axle speed sensor for detecting the corresponding axle speed is faulty or interfered, the corresponding axle speed is eliminated, and the train speed is calculated by using the remaining valid axle speed value. Based on the difference between the same axle speeds of the same bogie, the speed difference between the same cars of different bogies, and the state of the vehicle idling, the abnormal axle speed is diagnosed, the train speed is more reasonably calculated after the abnormal speed is eliminated, and the reliability and safety of the train operation can be better ensured.

Description

TECHNICAL FIELD

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

[0002] Currently, the calculation of the speed of a rail transit train is based on the installation of a speed sensor at the end of a bogie to detect the rotational speed (r / min) of a wheel set or motor in real time, and then the rotational speed is converted into corresponding axle speed (km / h). The train takes the average value or maximum value as the speed of the train after eliminating the abnormal (idling, coasting, etc.) speed. This method can ensure the effectiveness of the speed to a certain extent, but when the speed sensor is disturbed, the calculated train speed and the actual speed will have a large difference, which will lead to train operation accidents (such as emergency braking of the train after overspeed).

[0003] CN112519835A discloses a train speed determination method, device, electronic equipment and readable storage medium. By deleting data collected when the sampling current is small, the data collected by some sensors under unstable current can be reduced, so that the second wheel shaft data determined can be more accurate, and the accuracy of the speed determination of the target train can be improved. When invalid data is removed, the period of data collected by the wheel shaft speed sensor with unstable current can also be judged. When the period of data collected with unstable current is greater than a second specified value, the corresponding wheel shaft data is removed, thereby improving the accuracy of removing invalid data. This scheme determines the speed invalidity by judging the small sampling current of the speed sensor or the small sampling period of the sensor current. In actual application, when the speed sensor is disturbed or fails, the current may be small or large, and the duration of the abnormal current collection period is also different. This scheme cannot solve these problems. SUMMARY

[0004] The present application solves the technical problems of the prior art, provides a train speed calculation method, system and rail transit vehicle, and more reasonably calculates the speed of the train to better ensure the reliability and safety of the train operation.

[0005] To solve the above technical problems, the technical scheme adopted by the present application is as follows: a train speed calculation method, comprising the following steps:

[0006] S1, judging whether the train axle speed is valid, if not, determining that the axle speed sensor for detecting the corresponding axle speed has a fault or is disturbed;

[0007] S2, eliminating the axle speed detected by the axle speed sensor with a fault or disturbance, and calculating the train speed by using the remaining valid axle speed value.

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

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

[0010] When the train speed V>V1, if ΔV a > n duration t2, and there is no idling, coasting failure, the train subsystem feedback speed is valid, it is determined that the speed sensor corresponding to the maximum speed axle or the minimum speed axle in the bogie is abnormal, that is, the axle speed is invalid;

[0011] Wherein, V1 is a speed threshold, t1, t2 is a time threshold, ΔV b is the absolute value of the difference between the different axle speeds of the same bogie, ΔV a 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] Based on the difference between the different axle speeds of the same bogie, the speed difference between different bogies of the same train, and the idling and coasting state of the vehicle, the abnormal axle speed is diagnosed, the abnormal speed is removed, the speed of the train is more reasonably calculated, and the reliability and safety of the train operation are better guaranteed. In addition to judging the speed validity, in the case of valid speed, the speed validity is further judged by judging the difference between the different axle speeds of the same bogie and the axle speed of other bogies of the same train, and the possibility of speed abnormality is further removed, and the reliability of speed calculation is improved. Under the premise that the subsystem (such as TCU, BCU) axle speed is valid, the possibility of speed abnormality is further excluded, for example, although the axle speed sent by the subsystem is valid, its value may deviate from the actual speed value due to interference.

[0013] In the present application, the absolute value ΔV a of the difference between the different axle speeds of the same bogie is calculated as follows:

[0014] ΔV a = V a max-V a min;

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

[0016] The percentage difference AV of the different axle speeds of the same bogie b The calculation formula is:

[0017]

[0018] Wherein, 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 application, V1=10km / h.

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

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

[0022] In the present application, after step S1 and before step S2, further comprising:

[0023] Judging whether the number of invalid axle speeds is less than a set number (for example, 1), if yes, entering step S2.

[0024] In the present application, the train speed is set as the average value or the maximum value of the valid axle speed values.

[0025] As an inventive concept, the present application further provides a train speed calculation system, comprising a memory, a processor and a computer program stored in the memory; the processor executes the computer program to realize the steps of the above method.

[0026] As an inventive concept, the present application further provides a rail transit vehicle, which adopts the above train speed calculation system.

[0027] Compared with the prior art, the present application has the beneficial effects that: the present application solves the problem that the axle speed of the existing train is interfered and the detected speed is abnormal, the axle speed abnormality (non-idling, coasting or sensor failure, etc.) leads to a large difference between the calculated train speed and the actual running speed, thereby causing the problem of unreliable train operation (such as the detected speed being much greater than the actual speed, leading to train overspeed emergency, or the detected speed being less than the actual speed, leading to the train being unable to normally exert the traction and braking force). The present application comprehensively processes the differences in the axle speeds of the same bogie, the speed differences between different bogies of the same car, and the idling and coasting states of the vehicle, and more reasonably calculates the speed of the train, thereby avoiding the above problems. The method of the present application can more reasonably calculate the speed of the train, and can better ensure the reliability and safety of the train operation. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with 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 making creative efforts shall fall 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, the speed differences of each bogie and axle during the start-up and low-speed stages and normal operation stages are calculated as follows:

[0032] 1) During the startup and low-speed phases, i.e., when the train speed is V≤V1 (V1 is the speed threshold, e.g., V1=10 km / 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 is the detection threshold, for example, m=2 km / 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, then it is considered that the speed sensor of the maximum speed axis or minimum speed axis in the bogie may be abnormal (for example, interfered, etc.), and combined with the axle speed values ​​of other bogies in the same car, if only one or a few axle speeds of the train have the above situation, then it is determined that the 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).

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

[0037]

[0038] wherein n is a speed percentage threshold, for example n = 10%.

[0039] When ΔVb>n lasts for t2s (t2 is a time threshold) and there is no idling or coasting failure and the speed is valid as fed back by the subsystem (such as a TCU or a BCU), it is considered that the speed sensor of the maximum speed axle or the minimum speed axle in the bogie may be abnormal (for example, interfered), and the axle speed values of other bogies of the same section of train are combined, if only one or a small number of axle speeds of the train appear the above-mentioned situation, it is determined that the corresponding axle speed sensor is faulty or interfered, in the comprehensive calculation of the train speed, the corresponding speed signal is removed, and the value of the remaining valid axle speed is taken to calculate the train speed (for example, the average value or the maximum value of the remaining speed is taken as the actual running speed of the train).

[0040] The method of the embodiment can effectively improve the accuracy of speed calculation, avoid the whole vehicle speed calculation error caused by the interference or short-time failure of the speed sensor, and thus improve the reliability and safety of train operation.

[0041] Embodiment 2

[0042] The embodiment 2 of the present application provides a train speed calculation system corresponding to the above-mentioned embodiment 1, which comprises a memory, a processor and a computer program stored on the memory; the processor executes the computer program on the memory to realize the steps of the method of the above-mentioned embodiment 1.

[0043] In some implementations, the memory can be a high-speed random access memory (RAM: Random Access Memory), and can also include a non-volatile memory, for example, at least one disk memory.

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

[0045] Embodiment 3

[0046] The embodiment 3 of the present application 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 embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In one embodiment, embodiments of the present application can be implemented in software and / or firmware. In this embodiment, the software implementation can include a computer program product which can include one or more computer program code files (which can be embodied in one or more computer program products). The computer program product can be stored in one or more of the associated memory devices of the computer, such as the memory 110 of the computer 100. The computer program product can also be stored in the memory of a server, which can be accessed by the computer 100 via the network 120. The computer program product can also be stored on a computer readable storage medium that can be read by a computer 100.

[0048] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks or in the flowchart one or more blocks and / or in the block or blocks of the block diagram.

[0049] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks or in the flowchart one or more blocks and / or in the block or blocks of the block diagram.

[0050] While the preferred embodiments of the application have been described, additional variations and modifications can be employed by those skilled in the art. Therefore, the appended claims are intended to cover all such modifications and variations as fall within the true spirit and scope of the application.

[0051] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A method for calculating train speed, 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 with. S2. Eliminate the axle speeds detected by the axle speed sensors that are faulty or interfered with, and calculate the train speed using the remaining valid axle speed values; The specific implementation process of determining whether the train axle speed is valid 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 minimum speed axis in the bogie is abnormal, that is, the axis speed is invalid; When the train speed V>V1, if ΔV b >n duration t2, and there is no idling or sliding fault, and the speed feedback from the train subsystem is valid, then it is determined that there is an abnormality in the speed sensor corresponding to the maximum speed axis or minimum speed axis in the bogie, 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 different axle speeds of the same bogie, m is the axle speed detection threshold, and n is the speed percentage threshold; The percentage difference between the speeds of different axles of the same bogie ΔV b The calculation formula is: ΔV b = ; Among them, V a max represents the maximum axle speed in the bogie, V a min represents the minimum axle speed in the bogie.

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, 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 or 2, characterized in that: V1=10km / h.

4. The train speed calculation method according to claim 1 or 2, characterized in that: m=2km / h.

5. The train speed calculation method according to claim 1 or 2, characterized in that: n=10%。 6. The train speed calculation method according to claim 1 or 2, characterized in that: The train speed is set as the average or maximum of the effective axle speed values.

7. The train speed calculation method according to claim 1 or 2, 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.

8. 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.

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

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