Train speed calculation method, system, equipment and medium

Abstract

The invention relates to the technical field of railways, and provides a train speed calculation method, system and device and a medium, and the method comprises the steps: in the acceleration or deceleration stage of a train, continuously collecting the train speed for N times by using an axle sensor and a radar sensor; calculating a first speed difference V wheel of the train at the front moment and the rear moment and a corresponding acceleration or deceleration based on data acquired by a wheel shaft sensor; according to radar sensor data, a second speed difference Vlightning is calculated, and when N is larger than Nmin and smaller than Nmax, the calculated accelerated speed of the train is continuously larger than the maximum accelerated speed of the locomotive, or the deceleration is continuously larger than the minimum accelerated speed of the locomotive, and meanwhile the difference value between the V wheel and the Vlightning continuously exceeds the threshold value, it is judged that the train idles or skates; and if the situation occurs, the sum of the speed at the previous moment and the Vthunder serves as the current running speed of the train. According to the method, the influence of idle roller skating on train speed calculation can be reduced.

Description

Technical Field

[0001] The present disclosure belongs to the field of railway technology, and in particular relates to a method, system, device and medium for calculating train speed. Background Art

[0002] At present, axle speed sensors are usually used for heavy-load trains to measure the real-time train running speed and calculate the travel distance. When the train is accelerating or braking, or going downhill or uphill, idling or wheelslipping occurs, the axle speed sensor cannot measure the speed and travel distance more accurately.

[0003] The existing technology mainly aims to solve the problem of idling and sliding of locomotives during operation from the perspective of traction transmission. It uses the train axle sensor to calculate the speed value of the current cycle, and then calculates the speed difference dv between the two cycles with the speed value of the previous cycle. The acceleration value a=dv / dt of the current cycle is calculated using dv and the program cycle time interval dt. If the acceleration value is greater than the maximum acceleration value designed by the train itself, it is judged that idling occurs. The calculation method of wheel slip is similar.

[0004] The current technology has the problem that when idling or wheelslip occurs, the speed value collected by the axle is not the actual speed value, and the distance calculated by it deviates greatly from the actual train running distance. The results calculated by the commonly used speed suppression method are affected by different train characteristics, and the calculation of speed and distance is not very accurate. It is necessary to adjust the parameters multiple times to compensate for the calculation results. Summary of the invention

[0005] To solve the above problems, the present disclosure provides a method, system, device and medium for calculating train speed, which uses a correction calculation to measure accurate speed and travel distance, and can reduce the impact of idling wheel slip on the train control system.

[0006] The following are technical details of the present invention: A method for calculating train speed, characterized by comprising: When the train accelerates or decelerates, the wheel axle sensor and radar sensor are used to continuously collect the train speed N times; Calculate the first speed difference △V of the train at two moments before and after according to the speed collected by the axle sensor 轮 and acceleration or deceleration; calculate the second speed difference △V of the train before and after two moments according to the train speed collected by the radar sensor 雷 ; If N is greater than the minimum number of sampling times N min , and less than the maximum number of sampling times N max , and the calculated train acceleration is continuously greater than the maximum acceleration of the train locomotive, and the first speed difference △V轮 and the second speed difference △V 雷 If the difference between and continuously exceeds the threshold, it is judged that the train is idling; If N is greater than the minimum number of sampling times N min , and less than the maximum number of sampling times N max , and the calculated train deceleration is continuously greater than the minimum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 If the difference between and continuously exceeds the threshold, it is judged that the train has wheelslip; If the train is idling or slipping, the speed of the train at the previous moment and the difference of the second speed △V 雷 The sum of the speeds is taken as the current running speed of the train; if the train does not idle or slip, the speed collected by the axle sensor is taken as the current running speed of the train.

[0007] Further, After determining that the train is idling or wheel slipping, the wheel axle sensor and radar sensor are used to continuously collect the train speed; If the calculated train acceleration after each acquisition is less than the maximum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 The difference is within the allowable range, and it is judged that the train is not idling at this time; If the deceleration of the train calculated after each acquisition is less than the minimum deceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 The difference is within the allowable range, and it is determined that the train has no wheelslip at this time.

[0008] Further, If N is greater than the maximum number of sampling times N max , it is considered that the train is not idling or slipping at this time.

[0009] Further, The method also includes: calculating the travel distance of the train by using the running speed of the train at the last moment and the calculated train acceleration.

[0010] Further, The maximum number of sampling times N max The product of the time and the sampling period is the longest acceleration time or the longest deceleration time of the train.

[0011] Further, If N is equal to the minimum number of sampling times N min , and the calculated train acceleration is continuously greater than the maximum acceleration of the train locomotive, it is judged that the train is not idling at this time; If N is equal to the minimum number of sampling times Nmin , and the calculated train deceleration is continuously greater than the minimum acceleration of the train locomotive, judging that the train has no pulley at this time.

[0012] Further, The sampling period is 200ms.

[0013] A train speed calculation system, characterized by comprising: The acquisition module is used to continuously acquire the train speed N times using the axle sensor and the radar sensor when the train accelerates or decelerates; The calculation module is used to calculate the first speed difference △V of the train at two moments before and after according to the speed collected by the wheel axle sensor 轮 and acceleration or deceleration; calculate the second speed difference △V of the train before and after two moments according to the train speed collected by the radar sensor 雷 ; Judgment module, used if N is greater than the minimum sampling number N min , and less than the maximum number of sampling times N max , and the calculated train acceleration is continuously greater than the maximum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 If the difference between and continuously exceeds the threshold, it is judged that the train is idling; If N is greater than the minimum number of sampling times N min , and less than the maximum number of sampling times N max , and the calculated train deceleration is continuously greater than the minimum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 If the difference between and continuously exceeds the threshold, it is judged that the train has wheelslip; The speed calculation module is used to calculate the speed difference △V between the previous speed and the second speed if the train is idling or slipping. 雷 The sum of the speeds is taken as the current running speed of the train; if the train does not idle or slip, the speed collected by the axle sensor is taken as the current running speed of the train.

[0014] A train speed calculation device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the train speed calculation method.

[0015] A computer storage medium stores executable instructions, which, when executed by a processor, enable the processor to implement the method.

[0016] Compared with the prior art, the present invention has the following advantages: The present invention effectively solves the problems existing in the prior art through multi-sensor fusion, reasonable judgment logic and targeted speed calculation method; The wheel axle sensor and radar sensor are used to continuously collect the train speed. The wheel axle sensor can obtain the speed corresponding to the rotation of the train wheel axle. The radar sensor is based on the Doppler effect measurement and is not affected by idling wheelslip. The combination of the two provides multi-dimensional data for subsequent judgment and calculation. On the other hand, by setting the minimum and maximum sampling times, the train acceleration and the maximum (minimum) acceleration of the locomotive, as well as the speed difference between the wheel axle and the radar sensor are comprehensively judged. When the train acceleration (deceleration) is abnormal and the speed difference exceeds the threshold, it can be accurately judged that the train is idling or wheelslipping. If idling or wheelslip occurs, the sum of the previous speed and the second speed difference calculated by the radar sensor is used as the current speed to correct the deviation of the wheel axle sensor. If this does not occur, the wheel axle sensor is used to collect the speed, making rational use of the data advantage during normal times, avoiding the problem of the speed suppression method being affected by the train characteristics, reducing parameter adjustment and compensation work, and thus improving the accuracy of speed calculation.

[0017] Other features and advantages of the present disclosure will be described in the following description, and partly become apparent from the description, or be understood by implementing the present disclosure. The purpose and other advantages of the present disclosure can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of the method of the present invention is shown. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0021] From the perspective of the train control system, the present invention uses a correction calculation to measure the accurate speed and travel distance when the train has idling wheel slip, thereby reducing the impact of the idling wheel slip on the train control system.

[0022] Figure 1 A schematic diagram of the method according to the present invention is shown, and the specific implementation details of the present invention include: Determine idling: 1) Continuously sample the wheel axle sensor N when the train control system is running min times, and the interval between each time is the sampling period; where N min is the minimum number of sampling times.

[0023] When the collected train acceleration is greater than the maximum acceleration of the train locomotive (which is the parameter characteristic of different types of locomotives and can be known when the locomotive leaves the factory): Record the speed value V of the radar speed sensor 雷1 , record the current wheel axle sensor speed V 轮1 , treated as non-idling.

[0024] The speed value V used by the train control system 牵1 Use the current wheel axle sensor speed V 轮1 And follow V 轮1 Calculate the travel distance at a constant speed, that is, V 牵1 =V 轮1 , S 牵 =V 牵1 ×△t.

[0025] 2) When the train control system is running, the wheel axle sensor is continuously sampled, and the sampling frequency is N min times to N max Among them, N max The maximum number of sampling times.

[0026] If the continuously collected train acceleration is greater than the maximum acceleration of the train locomotive, and the current wheel axle sensor speed difference △V 轮2 (Which wheel axle sensor is used to collect the speed value? The acquisition array of this sensor is used as the basis for comparison) and the current radar sensor △V 雷2 If the difference in this process is not within the allowable range, it will be treated as idling.

[0027] The current wheel axle sensor speed V cannot be used at this time 轮2 , the speed value V used by the train control system 牵2 The speed V of the wheel axle sensor when no idling occurs 轮2 With the current radar sensor V 雷2 The sum of the differences in this process. V 牵2 =V轮1 +△V 雷2 △V 雷2 =V 雷2 -V 雷1 The actual travel distance is S 牵 =V 牵2 ×△t.

[0028] The speed measurement principle of the radar sensor is based on the Doppler effect, and the measurement is performed according to the frequency shift of the received electromagnetic wave. Therefore, since the relative movement of the ground relative to the radar sensor is used, it will not be affected by the idling wheel slip. The rate of change of the measured displacement is relatively accurate, so the present invention is based on the speed value of the wheel axle sensor without sudden change and the speed increase and speed decrease measured by the radar.

[0029] Among them, the maximum number of sampling times N max The product of the time and the sampling period is the maximum acceleration time of the train.

[0030] 3) When the number of sampling exceeds N min times, and after determining that the train is idling: Record the current wheel axle sensor speed V 轮4 , the acceleration of the train collected each time is less than the maximum acceleration of the train locomotive, and the speed of the current axle sensor in the sampling period is △V 轮4 With the current radar sensor △V 雷4 If the difference is within the allowable range, it will be treated as non-idling; At this time, the speed value V used by the train control system 牵4 Use the current wheel axle sensor speed V 轮4 , calculate the current speed value a. The actual travel distance is, V 牵4 =V 轮4 , S 牵 =V 轮 ×△t+1 / 2×a×△t×△t.

[0031] 4) If the number of samples is greater than N max Second-rate: If the collected train acceleration is greater than the maximum acceleration of the train locomotive, it will be treated as non-idling; At this time, the speed value V used by the train control system 牵3 Use the current wheel axle sensor speed V 轮3 , calculate the current acceleration value a. The actual travel distance is, V 牵3 =V 轮3 , S 牵3 =V 轮3 ×△t + 1 / 2×a×△t×△t.

[0032] 5) If the number of samples is greater than N max Second-rate: If the collected train acceleration is less than the maximum acceleration of the train locomotive, it will be treated as non-idling; At this time, the speed value V used by the train control system 牵5 Use the current wheel axle sensor speed V 轮5 , calculate the current speed value a. The actual travel distance is, V 牵5 =V 轮5 , S 牵5 =V 轮5 ×△t + 1 / 2×a×△t×△t.

[0033] The above minimum idling sampling period N min , Maximum judgment idling sampling period N max , the maximum acceleration of the train locomotive can be written into the configuration parameters according to the properties of different locomotives.

[0034] Judging pulley: 1) Continuously sample the wheel axle sensor N when the train control system is running min times, and the interval between each time is the sampling period; where N min is the minimum number of sampling times.

[0035] 2) When the collected train deceleration is greater than the minimum deceleration of the train locomotive, record the speed value V measured by the radar speed sensor 雷1 , record the current wheel axle sensor speed V 轮1 , treated as non-roller skating; The speed value used by the train control system is V 牵1 Use the current wheel axle sensor speed V 轮1 And follow V 轮1 Calculate the travel distance at a constant speed, that is, V 牵1 =V 轮1 , S 牵 =V 牵1 ×△t.

[0036] 3) When the train control system is running, the wheel axle sensor is continuously sampled, and the sampling frequency is N min times to N max Among them, N max The maximum number of sampling times: If the continuously collected train deceleration is greater than the minimum deceleration of the train locomotive, and the current wheel axle sensor speed difference △V 轮2 With the current radar sensor △V 雷2 If the difference in this process is outside the allowable range, it will be treated as roller skating; The current wheel axle sensor speed V cannot be used at this time 轮2 , the speed value V used by the train control system 牵2The speed V of the wheel axle sensor when no wheel slip occurs 轮2 When compared with the current radar sensor V 雷2 The sum of the differences in this process. V 牵2 =V 轮1 +△V 雷2 △V 雷 =V 雷2 -V 雷1 The actual travel distance is S 牵 =V 牵2 ×△t.

[0037] Among them, the maximum number of sampling times N max The product of the time and the sampling period is the longest deceleration time of the train.

[0038] 3) When the number of sampling exceeds N min times, and after determining that the train has wheelslip: Record the speed value V of the radar speed sensor 雷4 , record the current wheel axle sensor speed V 轮4 ; The deceleration of the train collected each time is less than the minimum deceleration of the train locomotive, and the speed difference of the current axle sensor in the sampling period is △V 轮4 With the current radar sensor △V 雷4 If the difference is within the allowable range, it will be treated as non-roller skating; At this time, the speed value V used by the train control system 牵4 Use the current wheel axle sensor speed V 轮4 , calculate the current speed value a. The actual travel distance is, V 牵4 =V 轮4 , S 牵 =V 轮 ×△t + 1 / 2×a×△t×△t.

[0039] 4) If the number of samples is greater than N max Second-rate: If the collected train deceleration is greater than the minimum deceleration of the train locomotive, it will be treated as non-wheel slip; At this time, the speed value V used by the train control system 牵3 Use the current wheel axle sensor speed V 轮3 , calculate the current speed value a. The actual travel distance is, V 牵3 =V 轮3 , S 牵3 =V 轮3 △t + 1 / 2×a×△t×△t.

[0040] 5) If the number of samples is greater than N max Second-rate: If the collected train deceleration is less than the minimum deceleration of the train locomotive, it will be treated as non-wheel slip; At this time, the speed value V used by the train control system 牵3 Use the current wheel axle sensor speed V 轮3 , calculate the current speed value a. The actual travel distance is, V 牵5 =V 轮5 , S 牵5 =V 轮5 ×△t + 1 / 2×a×△t×△t.

[0041] The above minimum judgment roller slip sampling period N min , Maximum judgment roller slip sampling period N max , the maximum deceleration of the train locomotive, the speed difference of the axle sensor △V 轮 With radar sensor △V 雷 The difference within the allowable range can be written into the configuration parameters according to the properties of different locomotives.

[0042] Based on the method of the present invention, the embodiment of the present disclosure also provides a system corresponding to the above method, which includes: The acquisition module is used to continuously acquire the train speed N times using the axle sensor and the radar sensor when the train accelerates or decelerates; The calculation module is used to calculate the first speed difference △V of the train at two moments before and after according to the speed collected by the wheel axle sensor 轮 and acceleration or deceleration; calculate the second speed difference △V of the train before and after two moments according to the train speed collected by the radar sensor 雷 ; Judgment module, used if N is greater than the minimum sampling number N min At the same time, it is less than the maximum number of sampling times N max , and the calculated train acceleration is continuously greater than the maximum acceleration of the train locomotive or the calculated train deceleration is continuously greater than the minimum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 If the difference between and continuously exceeds the threshold, it is judged that the train is idling or wheel slipping; The speed calculation module is used to calculate the speed difference △V between the previous speed and the second speed if the train is idling or slipping. 雷 The sum of the speeds is taken as the current running speed of the train; if the train does not idle or slip, the speed collected by the axle sensor is taken as the current running speed of the train.

[0043] Based on the same inventive concept as the above disclosed content, an embodiment of the present disclosure also provides a device corresponding to the above method, which includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are capable of being executed by the at least one processor to execute the above method.

[0044] It should be noted that the electrical connection between the above-mentioned units does not necessarily mean the connection between lines. An indirect connection method can be applied to the embodiments of the present disclosure as long as the purpose of the present disclosure is achieved.

[0045] Based on the same inventive concept, the present disclosure also provides a computer storage medium on which executable instructions are stored, and the instructions are executed by a processor to execute the above method.

[0046] Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for calculating train speed, characterized in that: include: When the train accelerates or decelerates, the wheel axle sensor and radar sensor are used to continuously collect the train speed N times; Calculate the first speed difference △V of the train at two moments before and after according to the speed collected by the axle sensor 轮 and acceleration or deceleration; calculate the second speed difference △V of the train before and after two moments according to the train speed collected by the radar sensor 雷 ; If N is greater than the minimum number of sampling times N min , and less than the maximum number of sampling times N max , and the calculated train acceleration is continuously greater than the maximum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 If the difference between and continuously exceeds the threshold, it is judged that the train is idling; If N is greater than the minimum number of sampling times N min , and less than the maximum number of sampling times N max , and the calculated train deceleration is continuously greater than the minimum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 If the difference between and continuously exceeds the threshold, it is judged that the train has wheelslip; If the train is idling or slipping, the difference between the train's previous speed and the second speed is △V. 雷 The sum of the speeds is taken as the current running speed of the train; if the train does not idle or slip, the speed collected by the axle sensor is taken as the current running speed of the train.

2. The method for calculating train speed according to claim 1, characterized in that: After determining that the train is idling or wheel slipping, the wheel axle sensor and radar sensor are used to continuously collect the train speed; If the calculated train acceleration after each acquisition is less than the maximum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 The difference is within the allowable range, and it is judged that the train is not idling at this time; If the deceleration of the train calculated after each acquisition is less than the minimum deceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 The difference is within the allowable range, and it is determined that the train has no wheelslip at this time.

3. The method for calculating train speed according to claim 1, characterized in that: If N is greater than the maximum number of sampling times N max , it is considered that the train is not idling or slipping at this time.

4. The method for calculating train speed according to claim 1, characterized in that: Also includes: The distance travelled by the train is calculated using the train's running speed at the last moment and the calculated train acceleration.

5. The method for calculating train speed according to claim 1, characterized in that: The maximum number of sampling times N max The product of the time and the sampling period is the longest acceleration time or the longest deceleration time of the train.

6. The method for calculating train speed according to claim 1, characterized in that: If N is equal to the minimum number of sampling times N min , and the calculated train acceleration is continuously greater than the maximum acceleration of the train locomotive, it is judged that the train is not idling at this time; If N is equal to the minimum number of sampling times N min , and the calculated train deceleration is continuously greater than the minimum acceleration of the train locomotive, judging that the train has no pulley at this time.

7. The method for calculating train speed according to claim 5, characterized in that: The sampling period is 200ms.

8. A train speed calculation system, characterized in that: include: The acquisition module is used to continuously acquire the train speed N times using the axle sensor and the radar sensor when the train accelerates or decelerates; The calculation module is used to calculate the first speed difference △V of the train at two moments before and after according to the speed collected by the wheel axle sensor 轮 and acceleration or deceleration; calculate the second speed difference △V of the train before and after two moments according to the train speed collected by the radar sensor 雷 ; Judgment module, used if N is greater than the minimum sampling number N min , and less than the maximum number of sampling times N max , and the calculated train acceleration is continuously greater than the maximum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 If the difference between and continuously exceeds the threshold, it is judged that the train is idling; If N is greater than the minimum number of sampling times N min , and less than the maximum number of sampling times N max , and the calculated train deceleration is continuously greater than the minimum acceleration of the train locomotive, and the first speed difference △V 轮 and the second speed difference △V 雷 If the difference between and continuously exceeds the threshold, it is judged that the train has wheelslip; The speed calculation module is used to calculate the speed difference △V between the previous speed and the second speed if the train is idling or slipping. 雷 The sum of the speeds is taken as the current running speed of the train; if the train does not idle or slip, the speed collected by the axle sensor is taken as the current running speed of the train.

9. A train speed calculation device, comprising: at least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the train speed calculation method described in any one of claims 1 to 7.

10. A computer storage medium having executable instructions stored thereon, wherein when the instructions are executed by a processor, the processor is enabled to implement the method according to any one of claims 1 to 7.

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