Train analogue simulation method, device, equipment and medium

Abstract

The invention discloses a train analogue simulation method, device and equipment and a medium. The method comprises the following steps: acquiring a simulated vehicle running state; determining a real-time adhesion coefficient calculation mode of the vehicle in the vehicle operation state according to the vehicle operation state; according to the real-time adhesion coefficient calculation mode, the stress condition of the vehicle in the vehicle running state is calculated. The embodiment of the invention provides a train analogue simulation method, which solves the problem of train stress condition simulation distortion caused by inaccurate adhesion coefficient calculation in the existing train analogue simulation, thereby improving the accuracy and reliability of the train analogue simulation. And a more accurate basis is provided for optimization design, performance evaluation and actual operation control of the train.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle simulation, and in particular to a train simulation method, device, equipment and medium. Background Art

[0002] When the train is running, the friction coefficient of the track changes, which easily causes the wheels to spin between the tracks. This is an important factor affecting the accuracy of speed and distance measurement.

[0003] Testing idling by spraying anti-friction fluid on the rails and braking and starting in the area not only requires a lot of manpower and material resources, but also makes it difficult to simulate the relative slip between the wheels and the tracks when the traction force is greater than the maximum adhesion between the wheels and the tracks during train acceleration. In addition, the simulation process also lacks a comprehensive analysis of the idling scenario of speed and distance measurement. Summary of the invention

[0004] The present invention provides a train simulation method, device, equipment and medium to solve the problem of inaccurate calculation of adhesion coefficient in existing train simulation, which leads to distortion in simulation of train force conditions.

[0005] According to one aspect of the present invention, there is provided a train simulation method, comprising:

[0006] Obtaining the simulated vehicle operation status;

[0007] Determine a method for calculating a real-time adhesion coefficient of the vehicle in the vehicle operating state according to the vehicle operating state;

[0008] According to the real-time adhesion coefficient calculation method, the force conditions of the vehicle when the vehicle is in operation are calculated.

[0009] Optionally, the vehicle operating state includes a normal operating state;

[0010] According to the vehicle operation state, a method for calculating the real-time adhesion coefficient of the vehicle under the vehicle operation state is determined, including:

[0011] When the vehicle is in a normal operating state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: ;

[0012] in, Indicates the real-time adhesion coefficient under normal operating conditions; Indicates the real-time speed of the vehicle; A and B represent two preset constants.

[0013] Optionally, when the vehicle is in a normal operating state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: Previously, it also included:

[0014] Get the real-time speed of the vehicle;

[0015] When the vehicle is in a normal operating state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: ,include:

[0016] When the vehicle is in a normal operating state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, a calculation method of the real-time adhesion coefficient of the vehicle is determined: ;

[0017] in, It indicates the real-time adhesion coefficient under low-speed normal operation, and C indicates the preset constant.

[0018] Optionally, the vehicle operating state includes an idling operating state;

[0019] According to the vehicle operation state, a method for calculating the real-time adhesion coefficient of the vehicle in the vehicle operation state is determined, including:

[0020] When the vehicle is in an idling state, the real-time adhesion coefficient of the vehicle is calculated as follows: ;

[0021] in, It represents the adhesion coefficient of the train in idling operation state. yes The friction coefficient at the previous moment, for In unit time The amount of change within It is the minimum value of the adhesion coefficient when the train is in idling operation.

[0022] Optionally, when the vehicle is in an idling state, the real-time adhesion coefficient of the vehicle is calculated as follows: Previously, it also included:

[0023] Get the real-time speed of the vehicle;

[0024] When the vehicle is in an idling state, the real-time adhesion coefficient of the vehicle is calculated as follows: ,include:

[0025] When the vehicle is in a low-speed idling state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, determine , , and ;in, is the real-time adhesion coefficient at low speed idling operation; for The coefficient of friction at the previous moment; for In unit time The amount of change within , is the minimum value of the adhesion coefficient when the train is running at low speed and idling;

[0026] When the vehicle is in a high-speed idling state and the real-time speed of the vehicle is higher than a preset speed threshold, determine , , and ;in, It is the real-time adhesion coefficient in high-speed idling operation state; for The coefficient of friction at the previous moment; for In unit time The amount of change within , is the minimum value of the adhesion coefficient of the train under high-speed idling operation;

[0027] in, and different.

[0028] Optionally, the vehicle operating state includes an idling recovery operating state;

[0029] According to the vehicle operation state, a method for calculating the real-time adhesion coefficient of the vehicle in the vehicle operation state is determined, including:

[0030] When the vehicle is in the idling recovery state, the real-time adhesion coefficient of the vehicle is calculated as follows: ;

[0031] in, It represents the adhesion coefficient of the train in the idling recovery state. yes The friction coefficient at the previous moment, for In unit time The amount of change within It is the maximum value of the adhesion coefficient of the train under the idling recovery operation state.

[0032] Optionally, when the vehicle operation state is an idling recovery operation state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: Previously, it also included:

[0033] Get the real-time speed of the vehicle;

[0034] When the vehicle is in the idling recovery state, the real-time adhesion coefficient of the vehicle is calculated as follows: ,include:

[0035] When the vehicle is in a low-speed idling recovery state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, determine , , and ;in, Real-time adhesion coefficient for low-speed idling recovery operation; for The coefficient of friction at the previous moment; for In unit time The amount of change within It is the maximum value of the adhesion coefficient of the train under the low-speed idling recovery operation state;

[0036] When the vehicle is in a high-speed idling recovery state and the vehicle's real-time speed is higher than a preset speed threshold, determine , , and ;in, The real-time adhesion coefficient of the high-speed idling recovery state; for The coefficient of friction at the previous moment; for In unit time The amount of change within It is the maximum value of the adhesion coefficient of the train under the high-speed idling recovery operation state;

[0037] in, and different.

[0038] Optionally, after calculating the force condition of the vehicle in the vehicle running state according to the real-time adhesion coefficient calculation method, it also includes:

[0039] Calculate the acceleration of the vehicle according to the force applied to the vehicle when the vehicle is in operation;

[0040] Calculate the wheel acceleration based on the force applied to the wheel when the vehicle is in motion.

[0041] Optionally, the acceleration of the vehicle is calculated according to the force applied to the vehicle in the vehicle operation state, including:

[0042] According to the formula , calculate the friction of the vehicle ;in, is the adhesion coefficient, M represents the mass of the vehicle, is the acceleration due to gravity;

[0043] According to the formula , calculate the vehicle's acceleration .

[0044] Optionally, the acceleration of the wheel is calculated according to the force applied to the wheel when the vehicle is in operation, including:

[0045] According to the formula , calculate the friction of the vehicle ;in, is the adhesion coefficient, M is the mass of the vehicle, m is the mass of the wheel, is the acceleration due to gravity;

[0046] According to the formula , calculate the acceleration of the wheel .

[0047] According to another aspect of the present invention, there is provided a train simulation device, comprising:

[0048] An information acquisition module, used to obtain the simulated vehicle operation status;

[0049] A coefficient determination module, which determines a real-time adhesion coefficient calculation method of the vehicle under the vehicle operation state according to the vehicle operation state;

[0050] The force analysis module calculates the force conditions of the vehicle when the vehicle is in operation based on the real-time adhesion coefficient calculation method.

[0051] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0052] at least one processor; and

[0053] a memory communicatively connected to at least one processor; wherein,

[0054] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the train simulation method of any embodiment of the present invention.

[0055] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the train simulation method of any embodiment of the present invention when executed by a processor.

[0056] The technical solution of the embodiment of the present invention provides a data basis for subsequent simulation analysis by acquiring the simulated vehicle operating state; determines the real-time adhesion coefficient calculation method of the vehicle in the vehicle operating state according to the vehicle operating state, improves the accuracy of the adhesion coefficient calculation, avoids the adhesion coefficient deviation caused by the inapplicable calculation method, and thus ensures the reliability of the subsequent calculation of the train force condition; calculates the force condition of the vehicle in the vehicle operating state according to the real-time adhesion coefficient calculation method, and then obtains the acceleration change of the vehicle in the three stages of normal, idling, and idling recovery, which solves the problem of inaccurate adhesion coefficient calculation in the existing train simulation, resulting in distortion of the train force condition simulation, thereby improving the accuracy and reliability of the train simulation, and providing a more accurate basis for the optimization design, performance evaluation and actual operation control of the train.

[0057] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 is a flow chart of a train simulation method provided by an embodiment of the present invention;

[0060] Figure 2 is a flow chart of another train simulation method provided by an embodiment of the present invention;

[0061] Figure 3 is a flow chart of another train simulation method provided by an embodiment of the present invention;

[0062] Figure 4 is a flow chart of another train simulation method provided by an embodiment of the present invention;

[0063] Figure 5 is a schematic flow chart of state transition during wheel acceleration provided by an embodiment of the present invention;

[0064] Figure 6 is a schematic flow chart of state transition during wheel deceleration provided by an embodiment of the present invention;

[0065] Figure 7 It is a structural schematic diagram of a train simulation device provided by an embodiment of the present invention;

[0066] Figure 8 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0068] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention 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.

[0069] Figure 1 is a flow chart of a train simulation method provided by an embodiment of the present invention, such as Figure 1 As shown, the method includes:

[0070] S110: Acquire a simulated vehicle operating state.

[0071] Among them, simulation can be understood as the process of virtually reproducing the various states and behaviors of a train in the actual operation process through technical means such as computer simulation; illustratively, what is simulated in the present application is a moving train. When the traction force that the train can provide remains unchanged, the train will idle and recover due to the change in the smoothness of the track; the vehicle operating state can be understood as the various state information presented by the train during the operation, such as normal driving state, idling driving state, idling recovery driving state, etc.

[0072] Specifically, in this application, the researchers set the input parameters according to the actual principles of train operation and possible conditions, simulating a moving train. When the traction provided remains unchanged, the train will idle and recover due to changes in the smoothness of the track, and then enter different operating states. The data obtained provides a data basis for subsequent simulation analysis.

[0073] S120: Determine a method for calculating a real-time adhesion coefficient of the vehicle in the vehicle operating state according to the vehicle operating state.

[0074] Among them, the adhesion coefficient can be understood as the ratio of the maximum static friction force that can be generated when the wheel and rail interact with each other to the vertical pressure of the wheel. It reflects the adhesion ability between the wheel and rail.

[0075] Specifically, under different vehicle operating conditions, the vehicle's real-time adhesion coefficient calculation method is also different. According to the vehicle's operating state, the simulation system will select the corresponding real-time adhesion coefficient calculation method, thereby improving the accuracy of the adhesion coefficient calculation, avoiding the adhesion coefficient deviation caused by inappropriate calculation method, and ensuring the reliability of subsequent analysis of the train's stress conditions.

[0076] For example, if the current track can provide a kinetic friction force greater than or equal to the traction force, the vehicle is in a normal driving mode and no idling occurs, then the real-time adhesion coefficient calculation method is the calculation method under the normal driving state.

[0077] S130. Calculate the force condition of the vehicle in the vehicle running state according to the real-time adhesion coefficient calculation method.

[0078] Among them, the stress condition can be understood as the comprehensive performance of various forces that the train is subjected to during operation, mainly including traction, braking force, friction (adhesion between wheels and rails, etc.).

[0079] Specifically, based on the determined real-time adhesion coefficient calculation method, combined with the train dynamics principles and related physical formulas, the magnitude of various forces on the train under different operating conditions is calculated. For example, the adhesion between the wheel and the rail is calculated by the adhesion coefficient and the vertical pressure of the wheel, the traction is calculated in combination with the train's power system parameters, and the air resistance is estimated based on the aerodynamic principles. Then, these forces are comprehensively analyzed to obtain the resultant force of the train at different times, and then based on the force conditions, the acceleration changes of the vehicle in the three stages of normal, idling, and idling recovery are obtained.

[0080] For example, Figure 5 As shown, Figure 5It is a flow chart of the state transition when the wheel is accelerating provided by an embodiment of the present invention. When the wheel is accelerating (the traction force is consistent with the acceleration direction, traction state): under normal operation, the resultant force is relatively stable, and the acceleration is kept in a reasonable range; when the train enters a smooth track, the adhesion coefficient decreases, causing the train to idle, the traction force cannot be effectively transmitted, the resultant force decreases, and the acceleration decreases; and in the idling recovery stage, as the adhesion coefficient recovers, the resultant force gradually increases, and the acceleration also returns to a normal level accordingly.

[0081] Similarly, if Figure 6 As shown, Figure 6 It is a flow chart of the state transition when the wheel is decelerating provided by an embodiment of the present invention. When the wheel is decelerating (traction force is opposite to acceleration direction, braking state): under normal operation state, the resultant force is relatively stable, and the acceleration is kept in a reasonable range; when the train enters a smooth track, the adhesion coefficient decreases and causes the train to slip, the traction force cannot be effectively transmitted, the resultant force decreases, and the acceleration decreases; and in the slip recovery stage, as the adhesion coefficient recovers, the resultant force gradually increases, and the acceleration also returns to a normal level accordingly.

[0082] It should be noted that the force analysis and calculation methods of the train are the same regardless of whether it is in traction or braking state. Wheel slip and wheel spin are essentially caused by changes in the adhesion coefficient, which causes abnormal force transmission between the train wheels and the track.

[0083] Therefore, this application only analyzes the wheel slip state in the traction state. It should be clear that the wheel idling state is also applicable to the calculation method based on the wheel slip state.

[0084] The technical solution of the embodiment of the present invention provides a data basis for subsequent simulation analysis by acquiring the simulated vehicle operating state; determines the real-time adhesion coefficient calculation method of the vehicle in the vehicle operating state according to the vehicle operating state, improves the accuracy of the adhesion coefficient calculation, avoids the adhesion coefficient deviation caused by the inapplicable calculation method, and thus ensures the reliability of the subsequent calculation of the train force condition; calculates the force condition of the vehicle in the vehicle operating state according to the real-time adhesion coefficient calculation method, and then obtains the acceleration change of the vehicle in the three stages of normal, idling, and idling recovery, which solves the problem of inaccurate adhesion coefficient calculation in the existing train simulation, resulting in distortion of the train force condition simulation, thereby improving the accuracy and reliability of the train simulation, and providing a more accurate basis for the optimization design, performance evaluation and actual operation control of the train.

[0085] Optionally, after calculating the force condition of the vehicle in the vehicle running state according to the real-time adhesion coefficient calculation method, it also includes:

[0086] Calculate the acceleration of the vehicle according to the force applied to the vehicle when the vehicle is in operation;

[0087] Calculate the wheel acceleration based on the force applied to the wheel when the vehicle is in motion.

[0088] Specifically, in any vehicle operation state, the vehicle acceleration can be obtained based on the resultant external force and the vehicle mass, but the wheel, as the part that directly contacts the track and transmits power, has a different force condition from the vehicle as a whole. In addition to the power and resistance transmitted by the vehicle, the wheel is also subject to the complex interaction force between the wheel and the track.

[0089] For example, when the wheel and rail are in an adhesive state and there is no relative sliding, the acceleration of the wheel and the vehicle is , traction F and friction Equal in magnitude, friction and adhesion coefficients It is related to the speed; at this time, since there is no relative slip, the acceleration of the wheel is equal to the acceleration of the vehicle and has the same direction.

[0090] Optionally, the acceleration of the vehicle is calculated according to the force applied to the vehicle in the vehicle operation state, including:

[0091] According to the formula , calculate the friction of the vehicle ;in, is the adhesion coefficient, M represents the mass of the vehicle, is the acceleration due to gravity;

[0092] According to the formula , calculate the vehicle's acceleration .

[0093] Specifically, first, the mass M of the vehicle currently being simulated is obtained; second, the real-time adhesion coefficient is determined according to the vehicle operation state. Then, by the formula , calculate the friction force, the traction force F and the friction force when the wheel and rail are in a sticky state and there is no relative sliding Equal in size, friction Provide acceleration, acceleration .

[0094] Optionally, the acceleration of the wheel is calculated according to the force applied to the wheel when the vehicle is in operation, including:

[0095] According to the formula , calculate the friction of the vehicle ;in, is the adhesion coefficient, M is the mass of the vehicle, m is the mass of the wheel, is the acceleration due to gravity;

[0096] According to the formula , calculate the acceleration of the wheel .

[0097] Specifically, first, obtain the vehicle mass M, wheel mass m and traction force F currently being simulated; second, determine the real-time adhesion coefficient according to the vehicle operating state Then, by the formula , calculate the friction force; finally, substitute the above part into the formula , calculate the acceleration of the wheel .

[0098] Figure 2 : is a flow chart of another train simulation method provided by an embodiment of the present invention. This embodiment is refined on the basis of "S120, according to the vehicle operation state, determining the real-time adhesion coefficient calculation method of the vehicle in the vehicle operation state." in the above embodiment, and specifically includes:

[0099] The vehicle operating state includes a normal operating state;

[0100] When the vehicle is in a normal operating state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: ;

[0101] in, Indicates the real-time adhesion coefficient under normal operating conditions; Indicates the real-time speed of the vehicle; A and B represent two preset constants.

[0102] like Figure 2 As shown, the method includes:

[0103] S210: Acquire a simulated vehicle operating state.

[0104] S220: When the vehicle is in a normal operating state, a calculation method for determining a real-time adhesion coefficient of the vehicle is: .

[0105] in, Indicates the real-time adhesion coefficient under normal operating conditions; Indicates the real-time speed of the vehicle; A and B represent two preset constants; the normal operating state can be understood as the current track being able to provide a kinetic friction force greater than or equal to the traction force, the vehicle is in normal driving mode, and there is no idling.

[0106] Specifically, the adhesion coefficient under normal operating conditions It is inversely proportional to the speed. As the speed increases, the adhesion coefficient becomes smaller and smaller, and it remains almost unchanged after the speed reaches a certain level.

[0107] For example, suppose a high-speed train carriage has a mass of 60 tons, a carriage has 8 wheels, the body mass M borne by each wheel is 7500 kg, the wheel mass m is 350 kg, and the acceleration due to gravity is Take 9.8m / s 2 When the train speed is between 50-350 When , we can deduce that constant A=27.2, constant B=85, and the adhesion coefficient in this state is: .

[0108] S230: Calculate the force condition of the vehicle in the vehicle running state according to the real-time adhesion coefficient calculation method.

[0109] The embodiment of the present invention subdivides the train operating state and provides a specific real-time adhesion coefficient calculation method for the normal operating state. Compared with the general adhesion coefficient calculation method, the calculation method based on the actual train operating state can more accurately simulate the stress conditions of the train in the normal operating state, thereby improving the accuracy of train simulation.

[0110] Optionally, when the vehicle is in a normal operating state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: Previously, it also included:

[0111] Get the real-time speed of the vehicle;

[0112] When the vehicle is in a normal operating state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: ,include:

[0113] When the vehicle is in a normal operating state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, a calculation method of the real-time adhesion coefficient of the vehicle is determined: .

[0114] in, It represents the real-time adhesion coefficient under low-speed normal operation state, and C represents the preset constant; the real-time speed of the vehicle can be understood as the real-time simulation speed of the simulation train, and the real-time speed of the vehicle can be obtained based on the simulation software.

[0115] Specifically, the system selects the corresponding adhesion coefficient calculation method by obtaining the simulated vehicle operation state. When the vehicle operation state is normal, when the real-time speed of the vehicle is higher than the preset speed threshold C (such as C=50km / h), it can be regarded as a high-speed normal operation state. The real-time adhesion coefficient calculation method of the vehicle in the high-speed state complies with: ; When the real-time speed of the vehicle is lower than the preset speed threshold C (such as C=50km / h), it can be regarded as a low-speed normal operation state. The real-time adhesion coefficient calculation method of the vehicle in the low-speed state complies with: , that is, when the real-time speed is below the preset speed threshold C, For fixed value .

[0116] Figure 3 : is a flow chart of another train simulation method provided by an embodiment of the present invention. This embodiment is refined on the basis of "S120, according to the vehicle operation state, determining the real-time adhesion coefficient calculation method of the vehicle in the vehicle operation state." in the above embodiment, and specifically includes:

[0117] The vehicle operation state includes an idling operation state;

[0118] When the vehicle is in an idling state, the real-time adhesion coefficient of the vehicle is calculated as follows: ;

[0119] in, It represents the adhesion coefficient of the train in idling operation state. yes The friction coefficient at the previous moment, for In unit time The amount of change within It is the minimum value of the adhesion coefficient of the train in the idling state.

[0120] like Figure 3 As shown, the method includes:

[0121] S310: Acquire a simulated vehicle operating state.

[0122] S320: When the vehicle is in an idling state, a calculation method for determining a real-time adhesion coefficient of the vehicle is as follows: ;

[0123] in, It represents the adhesion coefficient of the train in idling operation state. yes The friction coefficient at the previous moment, for In unit time The amount of change within is the minimum value of the adhesion coefficient of the train in the idling state; the idling state can be understood as an abnormal operating state in which the adhesion between the wheel and the rail is insufficient to maintain the normal operating state of the vehicle during the operation of the train, resulting in relative sliding between the wheel and the track surface; illustratively, in the present application, the idling state is caused by the vehicle running on a relatively smooth track, and the vehicle speed continues to decrease in this state.

[0124] Specifically, the adhesion coefficient under idling condition , because the track suddenly becomes smooth, the friction provided by the track suddenly decreases sharply, so the adhesion coefficient in the idling state As the time of entering the idling state decreases linearly, starting from the initial value of entering the idling state, each Time reduction The adhesion coefficient of the idling state at the current moment is Then reaches the minimum value.

[0125] It should be noted that in this process and The size of is affected by the track material and wheel material. During the idling stage, the adhesion coefficient is no longer related to the speed.

[0126] S330: Calculate the force condition of the vehicle in the vehicle running state according to the real-time adhesion coefficient calculation method.

[0127] The embodiment of the present invention subdivides the train operating state and provides a specific real-time adhesion coefficient calculation method for the idling operating state. Compared with the general adhesion coefficient calculation method, the calculation method based on the actual train operating state can more accurately simulate the stress conditions of the train in the idling operating state, thereby improving the accuracy of train simulation.

[0128] Optionally, when the vehicle is in an idling state, the real-time adhesion coefficient of the vehicle is calculated as follows: Previously, it also included:

[0129] Get the real-time speed of the vehicle;

[0130] When the vehicle is in an idling state, the real-time adhesion coefficient of the vehicle is calculated as follows: ,include:

[0131] When the vehicle is in a low-speed idling state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, determining , , and ;in, is the real-time adhesion coefficient of the low-speed idling operation state; for The coefficient of friction at the previous moment; for In unit time The amount of change within , is the minimum value of the adhesion coefficient of the train in the low-speed idling operation state;

[0132] When the vehicle is in a high-speed idling state and the real-time speed of the vehicle is higher than a preset speed threshold, determining , , and ;in, is the real-time adhesion coefficient in the high-speed idling operation state; for The coefficient of friction at the previous moment; for In unit time The amount of change within , is the minimum value of the adhesion coefficient of the train under the high-speed idling operation state;

[0133] in, and Different, due to the different initial values ​​of vehicle speed entering the idling phase, resulting in and different.

[0134] Specifically, the system selects the corresponding adhesion coefficient calculation method by obtaining the simulated vehicle operation state. When the vehicle operation state is an idling operation state, when the real-time speed of the vehicle is higher than the preset speed threshold C (such as C=50km / h), it can be regarded as a high-speed idling operation state. The real-time adhesion coefficient calculation method of the vehicle in the high-speed state complies with: .

[0135] Similarly, when the vehicle's real-time speed is lower than the preset speed threshold C (e.g., C=50km / h), it can be regarded as a low-speed idling state. The calculation method of the vehicle's real-time adhesion coefficient at low speed conforms to: .

[0136] Since the minimum value of the adhesion coefficient is only affected by the track material and wheel material, the minimum value of the adhesion coefficient in the high-speed idling state and the low-speed idling state is the same, that is, ; and express The change in the adhesion coefficient within a time interval. In the idling state, whether at high speed or low speed, the friction force that the track can provide is constant, so .

[0137] It is understandable that when a vehicle with a speed higher than a preset speed threshold C (such as C=50km / h) is idling and its speed continues to decrease until it drops below the preset speed threshold C (such as C=50km / h), the force condition of the vehicle will not change, and the method of calculating the real-time adhesion coefficient of the vehicle does not need to change.

[0138] Figure 4 : is a flow chart of another train simulation method provided by an embodiment of the present invention. This embodiment is refined on the basis of "S120, according to the vehicle operation state, determining the real-time adhesion coefficient calculation method of the vehicle in the vehicle operation state." in the above embodiment, and specifically includes:

[0139] When the vehicle is in the idling recovery state, the real-time adhesion coefficient of the vehicle is calculated as follows: ;

[0140] in, It represents the adhesion coefficient of the train in the idling recovery state. yes The friction coefficient at the previous moment, for In unit time The amount of change within It is the maximum value of the adhesion coefficient of the train under the idling recovery operation state.

[0141] like Figure 4 As shown, the method includes:

[0142] S410: Acquire a simulated vehicle operating state.

[0143] S420: When the vehicle operation state is an idling recovery operation state, a calculation method for determining a real-time adhesion coefficient of the vehicle is: ;

[0144] in, It represents the adhesion coefficient of the train in the idling recovery state. yes The friction coefficient at the previous moment, for In unit time The amount of change within It is the maximum value of the adhesion coefficient of the train under the idling recovery operation state.

[0145] Specifically, when the train returns to a track with higher friction, the friction provided by the track is greatly increased, so the train returns to an idling recovery state. The adhesion coefficient in the idling recovery state is As the time of entering the idling recovery state decreases linearly, starting from the initial value of entering the idling recovery state, each Time Increase The adhesion coefficient of the idling recovery operation state at the current moment Then reaches the maximum value.

[0146] It should be noted that in this process and The size of is affected by the track material and wheel material. In the idling recovery stage, the adhesion coefficient is no longer related to the speed. Determined by the maximum friction that the current track can provide.

[0147] S430: Calculate the force of the vehicle in the vehicle running state according to the real-time adhesion coefficient calculation method.

[0148] The embodiment of the present invention subdivides the train operating state and provides a specific real-time adhesion coefficient calculation method for the idling recovery operating state. Compared with the general adhesion coefficient calculation method, the calculation method based on the actual train operating state can more accurately simulate the stress conditions of the train in the idling recovery operating state, thereby improving the accuracy of train simulation.

[0149] Optionally, when the vehicle operation state is an idling recovery operation state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: Previously, it also included:

[0150] Get the real-time speed of the vehicle;

[0151] When the vehicle is in the idling recovery state, the real-time adhesion coefficient of the vehicle is calculated as follows: ,include:

[0152] When the vehicle is in a low-speed idling recovery state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, determine , , and ;in, Real-time adhesion coefficient for low-speed idling recovery operation; for The coefficient of friction at the previous moment; for In unit time The amount of change within It is the maximum value of the adhesion coefficient of the train under the low-speed idling recovery operation state;

[0153] When the vehicle is in a high-speed idling recovery state and the vehicle's real-time speed is higher than a preset speed threshold, determine , , and ;in, The real-time adhesion coefficient of the high-speed idling recovery state; for The coefficient of friction at the previous moment; for In unit time The amount of change within It is the maximum value of the adhesion coefficient of the train under the high-speed idling recovery operation state;

[0154] in, and Different, due to the different initial values ​​of vehicle speed entering the idling recovery phase, resulting in and different.

[0155] Specifically, the system selects the corresponding adhesion coefficient calculation method by obtaining the simulated vehicle operation state. When the vehicle operation state is the idle recovery operation state, when the real-time speed of the vehicle is higher than the preset speed threshold C (such as C=50km / h), it can be regarded as a high-speed idle recovery operation state. The real-time adhesion coefficient calculation method of the vehicle in the high-speed state complies with: .

[0156] Similarly, when the vehicle's real-time speed is lower than the preset speed threshold C (e.g., C=50km / h), it can be regarded as a low-speed idling recovery operation state. The real-time adhesion coefficient calculation method of the vehicle in the low-speed state conforms to: .

[0157] Since the maximum value of the adhesion coefficient is only affected by the track material and wheel material, the maximum value of the adhesion coefficient in the high-speed idling recovery state and the low-speed idling recovery state is the same, that is, ; and express The change in the adhesion coefficient during the time interval. In the idling recovery state, the friction force that the track can provide is constant regardless of high or low speed. .

[0158] It is understandable that when a vehicle below a preset speed threshold C (such as C=50km / h) is in the process of idling recovery, and its speed continues to increase until it increases above the preset speed threshold C (such as C=50km / h), since the vehicle's force condition will not change, the method of calculating the vehicle's real-time adhesion coefficient does not need to change.

[0159] Figure 7 is a structural diagram of a train simulation device provided by an embodiment of the present invention, such as Figure 7 As shown, the device comprises:

[0160] An information acquisition module, used to obtain the simulated vehicle operation status;

[0161] A coefficient determination module, which determines a real-time adhesion coefficient calculation method of the vehicle under the vehicle operation state according to the vehicle operation state;

[0162] The force analysis module calculates the force conditions of the vehicle when the vehicle is in operation based on the real-time adhesion coefficient calculation method.

[0163] Optionally, the coefficient determination module is further used to determine the calculation method of the real-time adhesion coefficient of the vehicle when the vehicle operation state is a normal operation state: ;in, Indicates the real-time adhesion coefficient under normal operating conditions; Indicates the real-time speed of the vehicle; A and B represent two preset constants.

[0164] Optionally, the information acquisition module is further used to acquire the real-time speed of the vehicle, and the coefficient determination module is further used to determine the calculation method of the real-time adhesion coefficient of the vehicle when the vehicle operation state is a normal operation state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold: ;in, It indicates the real-time adhesion coefficient under low-speed normal operation, and C indicates the preset constant.

[0165] Optionally, the coefficient determination module is further used to determine the calculation method of the real-time adhesion coefficient of the vehicle when the vehicle operation state is an idling operation state as follows: ;in, It represents the adhesion coefficient of the train in idling operation state. yes The friction coefficient at the previous moment, for In unit time The amount of change within It is the minimum value of the adhesion coefficient of the train in the idling state.

[0166] Optionally, the information acquisition module is further used to acquire the real-time speed of the vehicle, and the coefficient determination module is further used to determine the coefficient when the vehicle is in a low-speed idling state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold. , , and ;in, is the real-time adhesion coefficient at low speed idling operation; for The coefficient of friction at the previous moment; for In unit time The amount of change within , is the minimum value of the adhesion coefficient of the train in the low-speed idling state; when the vehicle operation state is the high-speed idling state and the real-time speed of the vehicle is higher than the preset speed threshold, determine , , and ;in, It is the real-time adhesion coefficient in high-speed idling operation state; for The coefficient of friction at the previous moment; for In unit time The amount of change within , is the minimum value of the adhesion coefficient of the train under high-speed idling operation;

[0167] in, and different.

[0168] Optionally, the coefficient determination module is further used to determine the calculation method of the real-time adhesion coefficient of the vehicle when the vehicle operation state is an idling recovery operation state as follows: ;in, It represents the adhesion coefficient of the train in the idling recovery state. yes The friction coefficient at the previous moment, for In unit time The amount of change within It is the maximum value of the adhesion coefficient of the train under the idling recovery operation state.

[0169] Optionally, the information acquisition module is further used to acquire the real-time speed of the vehicle, and the coefficient determination module is further used to, when the vehicle operation state is an idling recovery operation state, determine the calculation method of the real-time adhesion coefficient of the vehicle as follows: , including: when the vehicle operating state is a low-speed idling recovery operating state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, determining , , and ;in, Real-time adhesion coefficient for low-speed idling recovery operation; for The coefficient of friction at the previous moment; for In unit time The amount of change within is the maximum value of the adhesion coefficient of the train in the low-speed idling recovery state; when the vehicle operation state is the high-speed idling recovery state and the real-time speed of the vehicle is higher than the preset speed threshold, determine , , and ;in, The real-time adhesion coefficient of the high-speed idling recovery state; for The coefficient of friction at the previous moment; for In unit time The amount of change within is the maximum value of the adhesion coefficient of the train under high-speed idling recovery operation; and different.

[0170] Optionally, the train simulation device also includes an acceleration calculation module, which is specifically used to calculate the acceleration of the vehicle according to the force conditions of the vehicle when the vehicle is in operation; and calculate the acceleration of the wheels according to the force conditions of the wheels when the vehicle is in operation.

[0171] Optionally, the acceleration calculation module is also used according to the formula , calculate the friction of the vehicle ;in, is the adhesion coefficient, M represents the mass of the vehicle, is the acceleration due to gravity; according to the formula , calculate the vehicle's acceleration .

[0172] Optionally, the acceleration calculation module is also used according to the formula , calculate the friction of the vehicle ;in, is the adhesion coefficient, M is the mass of the vehicle, m is the mass of the wheel, is the acceleration due to gravity; according to the formula , calculate the acceleration of the wheel .

[0173] The train simulation device provided in the embodiment of the present invention can execute the train simulation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0174] Figure 8 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, such as Figure 8 As shown, the electronic device includes:

[0175] at least one processor; and

[0176] a memory communicatively connected to at least one processor; wherein,

[0177] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the train simulation method described in any embodiment of the present invention.

[0178] Figure 8 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0179] like Figure 8 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11 in communication, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the random access memory (RAM) 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the read-only memory (ROM) 12, and the random access memory (RAM) 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0180] A number of components in the electronic device 10 are connected to an input / output (I / O) interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0181] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a train simulation method.

[0182] An embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions. The computer instructions are used to enable a processor to implement the train simulation method of any embodiment of the present invention when executed.

[0183] In some embodiments, the train simulation method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via a read-only memory (ROM) 12 and / or a communication unit 19. When the computer program is loaded into a random access memory (RAM) 13 and executed by the processor 11, one or more steps of the train simulation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the train simulation method in any other appropriate manner (e.g., by means of firmware).

[0184] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0185] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0186] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0187] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0188] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0189] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0190] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0191] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A train simulation method, characterized in that: include: Obtaining the simulated vehicle operation status; Determining, according to the vehicle operating state, a method for calculating a real-time adhesion coefficient of the vehicle in the vehicle operating state; According to the real-time adhesion coefficient calculation method, the force condition of the vehicle in the vehicle running state is calculated.

2. The simulation method according to claim 1, characterized in that: The vehicle operating state includes a normal operating state; The method of calculating the real-time adhesion coefficient of the vehicle in the vehicle operating state according to the vehicle operating state includes: When the vehicle operating state is the normal operating state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: ; in, Indicates the real-time adhesion coefficient under normal operating conditions; Indicates the real-time speed of the vehicle; A and B represent two preset constants.

3. The simulation method according to claim 2, characterized in that: When the vehicle operation state is the normal operation state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: Previously, it also included: Get the real-time speed of the vehicle; When the vehicle operation state is the normal operation state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: ,include: When the vehicle operating state is the normal operating state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, the calculation method of the real-time adhesion coefficient of the vehicle is determined: ; in, It indicates the real-time adhesion coefficient under low-speed normal operation, and C indicates the preset constant.

4. The simulation method according to claim 1, characterized in that: The vehicle operating state includes an idling operating state; The method of calculating the real-time adhesion coefficient of the vehicle in the vehicle operating state according to the vehicle operating state includes: When the vehicle operation state is the idling operation state, the calculation method of determining the real-time adhesion coefficient of the vehicle is: ; in, It represents the adhesion coefficient of the train in idling operation state. yes The friction coefficient at the previous moment, for In unit time The amount of change within It is the minimum value of the adhesion coefficient of the train in the idling state.

5. The simulation method according to claim 4, characterized in that: When the vehicle operation state is the idling operation state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: Previously, it also included: Get the real-time speed of the vehicle; When the vehicle operation state is the idling operation state, the calculation method of determining the real-time adhesion coefficient of the vehicle is: ,include: When the vehicle is in a low-speed idling state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, determining , , and ;in, is the real-time adhesion coefficient of the low-speed idling operation state; for The coefficient of friction at the previous moment; for In unit time The amount of change within , is the minimum value of the adhesion coefficient of the train in the low-speed idling operation state; When the vehicle is in a high-speed idling state and the real-time speed of the vehicle is higher than a preset speed threshold, determining , , and ;in, is the real-time adhesion coefficient in the high-speed idling operation state; for The coefficient of friction at the previous moment; for In unit time The amount of change within , is the minimum value of the adhesion coefficient of the train under the high-speed idling operation state; in, and different.

6. The simulation method according to claim 1, characterized in that: The vehicle operating state includes an idling recovery operating state; The method of calculating the real-time adhesion coefficient of the vehicle in the vehicle operating state according to the vehicle operating state includes: When the vehicle operation state is the idling recovery operation state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: ; in, It represents the adhesion coefficient of the train in the idling recovery state. yes The friction coefficient at the previous moment, for In unit time The amount of change within It is the maximum value of the adhesion coefficient of the train in the idling recovery operation state.

7. The simulation method according to claim 6, characterized in that: When the vehicle operation state is the idling recovery operation state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: Previously, it also included: Get the real-time speed of the vehicle; When the vehicle operation state is the idling recovery operation state, the calculation method for determining the real-time adhesion coefficient of the vehicle is: ,include: When the vehicle operation state is a low-speed idling recovery operation state and the real-time speed of the vehicle is lower than or equal to a preset speed threshold, determining , , and ;in, is the real-time adhesion coefficient of the low-speed idling recovery operation state; for The coefficient of friction at the previous moment; for In unit time The amount of change within is the maximum value of the adhesion coefficient of the train in the low-speed idling recovery operation state; When the vehicle operation state is a high-speed idling recovery operation state and the real-time speed of the vehicle is higher than a preset speed threshold, determining , , and ;in, It is the real-time adhesion coefficient of the high-speed idling recovery operation state; for The coefficient of friction at the previous moment; for In unit time The amount of change within is the maximum value of the adhesion coefficient of the train under the high-speed idling recovery operation state; in, and different.

8. The simulation method according to claim 1, characterized in that: After calculating the force condition of the vehicle in the vehicle running state according to the real-time adhesion coefficient calculation method, the method further includes: Calculating the acceleration of the vehicle according to the force conditions of the vehicle in the vehicle operating state; The acceleration of the wheel is calculated according to the force applied to the wheel in the vehicle running state.

9. The simulation method according to claim 8, characterized in that: The calculating the acceleration of the vehicle according to the force condition of the vehicle in the vehicle running state includes: According to the formula , calculate the friction of the vehicle ;in, is the adhesion coefficient, M represents the mass of the vehicle, is the acceleration due to gravity; According to the formula , calculate the vehicle's acceleration .

10. The simulation method according to claim 8, characterized in that: The step of calculating the acceleration of the wheel according to the force applied to the wheel in the running state of the vehicle comprises: According to the formula , calculate the friction of the vehicle ;in, is the adhesion coefficient, M is the mass of the vehicle, m is the mass of the wheel, is the acceleration due to gravity; According to the formula , calculate the acceleration of the wheel .

11. A train simulation device, characterized in that: include: An information acquisition module, used to obtain the simulated vehicle operation status; A coefficient determination module, which determines a calculation method of a real-time adhesion coefficient of the vehicle under the vehicle operating state according to the vehicle operating state; The force analysis module calculates the force condition of the vehicle under the vehicle operation state according to the real-time adhesion coefficient calculation method.

12. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the train simulation method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the train simulation method according to any one of claims 1 to 10 when executed.

Images