CN116767306A - A locomotive group traction operation control method and device - Google Patents
A locomotive group traction operation control method and device Download PDFInfo
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- CN116767306A CN116767306A CN202310577874.2A CN202310577874A CN116767306A CN 116767306 A CN116767306 A CN 116767306A CN 202310577874 A CN202310577874 A CN 202310577874A CN 116767306 A CN116767306 A CN 116767306A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
- B61B1/005—Rail vehicle marshalling systems; Rail freight terminals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0027—Radio-based, e.g. using GSM-R
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0072—On-board train data handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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Abstract
本发明公开一种机车编组牵引运行控制方法及装置，方法包括获取机车上一时刻的实际速度值以及当前时刻的实际速度值，得到机车当前时刻的实际速度变化率；获取主牵引机车预设的目标速度值以及与目标速度值匹配的恒速区间速度变化率阈值；若实际速度值小于目标速度值，且当前时刻的实际速度变化率小于恒速区间速度变化率阈值，则获取牵引力调节比例参数并将牵引力调节比例参数传送给主牵引机车以及辅助牵引机车，以使辅助牵引机车基于牵引力调节比例参数输出牵引力以辅助控制机车的运行速度。该方法能够自动调整不同负荷条件下的控制策略，主牵引机车和辅助牵引机车能够分别控制自身的运行速度，控制方式更加灵活有效。
The invention discloses a locomotive group traction operation control method and device. The method includes obtaining the actual speed value of the locomotive at the previous moment and the actual speed value at the current moment, and obtaining the actual speed change rate of the locomotive at the current moment; obtaining the preset value of the main traction locomotive. The target speed value and the constant speed interval speed change rate threshold that match the target speed value; if the actual speed value is less than the target speed value, and the actual speed change rate at the current moment is less than the constant speed interval speed change rate threshold, the traction force adjustment proportion parameter is obtained The traction force adjustment proportion parameter is transmitted to the main traction locomotive and the auxiliary traction locomotive, so that the auxiliary traction locomotive outputs traction force based on the traction force adjustment ratio parameter to assist in controlling the running speed of the locomotive. This method can automatically adjust the control strategy under different load conditions. The main traction locomotive and the auxiliary traction locomotive can control their own running speeds respectively, making the control method more flexible and effective.
Description
技术领域Technical field
本发明涉及铁路机车技术领域，具体而言，涉及一种机车编组牵引运行控制方法及装置。The present invention relates to the technical field of railway locomotives, and specifically to a locomotive group traction operation control method and device.
背景技术Background technique
韶山4B型电力机车(以下简称SS4B直流机车)是双机重联的8轴大功率干线货运用电力机车，由两节完全相同的四轴机车通过中间车钩和橡胶联挂风挡连接而成，每节车为一个完整系统，设有一个司机室。两节机车之间设有内部电气重联控制电缆(内重联)和空气制动系统的重联控制风管，并有中间走廊连通，车顶设有高压连接线，可由司机在任何一端司机室对机车进行控制，两节机车也可以分离作为两台四轴机车独立运行。Shaoshan 4B electric locomotive (hereinafter referred to as SS4B DC locomotive) is a double-coupled 8-axle high-power mainline freight electric locomotive. It is composed of two identical four-axle locomotives connected through a middle coupler and a rubber coupling windshield. Each locomotive The car is a complete system with a driver's cab. There are internal electrical reconnection control cables (internal reconnection) and reconnection control ducts for the air brake system between the two locomotives, and are connected by a middle corridor. There is a high-voltage connection line on the roof, which can be driven by the driver at either end. The locomotive is controlled in a room, and the two locomotives can also be separated and run independently as two four-axle locomotives.
SS4B直流机车作为铁路车辆中的重要组成部分，担负着重要运输任务，在国内外广泛应用。随着铁路重载运输的要求日益迫切及提高，为满足重载牵引运输的要求，常常需要将现有机车进行改造，比如将SS4B直流机车的两节机车进行拆分，两者之间根据实际需要编入若干线路综合检测车或供电车。As an important part of railway vehicles, SS4B DC locomotives undertake important transportation tasks and are widely used at home and abroad. As the requirements for heavy-haul railway transportation become more and more urgent, in order to meet the requirements of heavy-haul traction transportation, it is often necessary to modify existing locomotives. For example, the two locomotives of the SS4B DC locomotive are split, and the relationship between the two locomotives is determined according to actual conditions. It is necessary to compile several line comprehensive inspection vehicles or power supply vehicles.
改造后的机车编组在运行中，尤其是在一些在长大坡道、起伏坡道等复杂线路的情况下，往往需要不断调节机车牵引力，以控制机车编组行车的行使平稳性和安全性。现有技术往往仅采用单机牵引模式，尚缺少一种符合机车编组运行特性且允许条件改变(中间编入的车辆具有不确定性)的列车牵引平稳控制方法，因此有必要进行改进。When the modified locomotive marshalling is in operation, especially on complex lines such as long ramps and undulating slopes, it is often necessary to continuously adjust the locomotive traction to control the smoothness and safety of the locomotive marshalling. Existing technologies often only use single-machine traction mode. There is still a lack of a stable train traction control method that conforms to the operating characteristics of locomotive marshalling and allows conditions to change (the vehicles included in the middle are uncertain), so it is necessary to improve it.
发明内容Contents of the invention
本发明提供一种机车编组牵引运行控制方法及装置，用以克服现有技术中存在的至少一个技术问题。The present invention provides a locomotive group traction operation control method and device to overcome at least one technical problem existing in the prior art.
第一方面，本发明实施例提供了一种机车编组牵引运行控制方法，所述机车编组包括主牵引机车和辅助牵引机车，所述主牵引机车和所述辅助牵引机车之间还设有若干被牵引车，所述主牵引机车和所述辅助牵引机车上均设有重联控制单元，所述重联控制单元之间互相通信构成无线重联管理系统，所述方法应用于所述无线重联管理系统，包括：In a first aspect, an embodiment of the present invention provides a method for controlling the traction operation of a locomotive group. The locomotive group includes a main traction locomotive and an auxiliary traction locomotive. There are several auxiliary traction locomotives arranged between the main traction locomotive and the auxiliary traction locomotive. Tractor, the main traction locomotive and the auxiliary traction locomotive are both equipped with reconnection control units, the reconnection control units communicate with each other to form a wireless reconnection management system, and the method is applied to the wireless reconnection Management systems, including:
获取所述主牵引机车上一时刻的实际速度值以及当前时刻的实际速度值，得到主牵引机车当前时刻的实际速度变化率；Obtain the actual speed value of the main traction locomotive at the previous moment and the actual speed value at the current moment, and obtain the actual speed change rate of the main traction locomotive at the current moment;
获取所述主牵引机车预设的目标速度值以及与所述目标速度值匹配的恒速区间速度变化率阈值；Obtain the preset target speed value of the main traction locomotive and the constant speed interval speed change rate threshold that matches the target speed value;
若所述实际速度值小于所述目标速度值，且当前时刻的所述实际速度变化率小于所述恒速区间速度变化率阈值，则获取牵引力调节比例参数并将所述牵引力调节比例参数传送给所述主牵引机车以及所述辅助牵引机车，以使所述辅助牵引机车基于所述牵引力调节比例参数输出牵引力以辅助控制机车的运行速度；If the actual speed value is less than the target speed value, and the actual speed change rate at the current moment is less than the constant speed interval speed change rate threshold, the traction force adjustment proportion parameter is obtained and the traction force adjustment proportion parameter is transmitted to The main traction locomotive and the auxiliary traction locomotive, so that the auxiliary traction locomotive outputs traction based on the traction force adjustment proportion parameter to assist in controlling the operating speed of the locomotive;
其中，获取所述牵引力调节比例参数具体包括：Wherein, obtaining the traction force adjustment proportion parameter specifically includes:
基于所述目标速度与当前实际速度的差值，获得第一比例参数；Obtain a first proportional parameter based on the difference between the target speed and the current actual speed;
获取并基于当前时刻机车的被牵引车信息确定机车的当前负荷值，所述被牵引车信息包括牵引车基本参数和牵引车数量；Obtain and determine the current load value of the locomotive based on the towed vehicle information of the locomotive at the current moment, where the towed vehicle information includes the basic parameters of the towing vehicle and the number of towing vehicles;
从预先存储的负荷值和第二比例参数的对应关系中，查找得到所述当前负荷值对应的第二比例参数；Search and obtain the second proportion parameter corresponding to the current load value from the corresponding relationship between the pre-stored load value and the second proportion parameter;
基于所述第一比例参数和所述第二比例参数确定牵引力调节比例参数。A traction adjustment proportion parameter is determined based on the first proportion parameter and the second proportion parameter.
可选的，所述第一比例参数与目标速度与当前实际速度的差值正相关。Optionally, the first proportional parameter is positively related to the difference between the target speed and the current actual speed.
可选的，所述机车编组牵引运行控制方法还包括：Optionally, the locomotive group traction operation control method also includes:
基于机车运行工况的历史数据，针对不同的目标速度值，预先设定相对应的恒速区间速度变化率阈值。Based on the historical data of the locomotive's operating conditions, corresponding constant speed interval speed change rate thresholds are preset for different target speed values.
可选的，所述机车编组牵引运行控制方法还包括：Optionally, the locomotive group traction operation control method also includes:
若所述实际速度值小于所述目标速度值，且当前时刻的所述实际速度变化率大于预设的恒速区间速度变化率阈值时，则利用预设的速度阶梯参数，减小机车下一时刻的所述实际速度值。If the actual speed value is less than the target speed value, and the actual speed change rate at the current moment is greater than the preset constant speed interval speed change rate threshold, the preset speed step parameters are used to reduce the next step of the locomotive. The actual speed value at that time.
可选的，所述获取所述主牵引机车预设的目标速度值，具体包括：Optionally, obtaining the preset target speed value of the main traction locomotive specifically includes:
根据所述主牵引机车的速度调节旋钮的位置获取对应的电压信号，按电压与速度的线性关系计算出对应的目标速度值。The corresponding voltage signal is obtained according to the position of the speed adjustment knob of the main traction locomotive, and the corresponding target speed value is calculated according to the linear relationship between voltage and speed.
第二方面，本发明实施例提供了一种机车编组牵引运行控制装置，包括：In a second aspect, an embodiment of the present invention provides a locomotive group traction operation control device, including:
第一获取单元，用于获取机车上一时刻的实际速度值以及当前时刻的实际速度值，得到机车当前时刻的实际速度变化率；其中，机车编组包括主牵引机车和辅助牵引机车，所述主牵引机车和所述辅助牵引机车之间还设有若干被牵引车，所述主牵引机车和所述辅助牵引机车上均设有重联控制单元，所述重联控制单元之间互相通信构成无线重联管理系统；The first acquisition unit is used to obtain the actual speed value of the locomotive at the previous moment and the actual speed value at the current moment, and obtain the actual speed change rate of the locomotive at the current moment; wherein the locomotive grouping includes a main traction locomotive and an auxiliary traction locomotive, and the main traction locomotive is There are also several towed vehicles between the traction locomotive and the auxiliary traction locomotive. The main traction locomotive and the auxiliary traction locomotive are both equipped with reconnection control units. The reconnection control units communicate with each other to form a wireless Reconnection management system;
第二获取单元，用于获取所述主牵引机车预设的目标速度值以及与所述目标速度值匹配的恒速区间速度变化率阈值；a second acquisition unit, configured to acquire the preset target speed value of the main traction locomotive and the constant speed interval speed change rate threshold that matches the target speed value;
调节比例参数单元，用于若所述实际速度值小于所述目标速度值，且当前时刻的所述实际速度变化率小于所述恒速区间速度变化率阈值，则获取牵引力调节比例参数并将所述牵引力调节比例参数传送给所述主牵引机车以及所述辅助牵引机车，以使所述辅助牵引机车基于所述牵引力调节比例参数输出牵引力以辅助控制机车的运行速度；Adjustment proportion parameter unit, used to obtain the traction force adjustment proportion parameter and adjust the traction force adjustment proportion parameter if the actual speed value is less than the target speed value and the actual speed change rate at the current moment is less than the constant speed interval speed change rate threshold. The traction force adjustment proportion parameter is transmitted to the main traction locomotive and the auxiliary traction locomotive, so that the auxiliary traction locomotive outputs traction based on the traction force adjustment ratio parameter to assist in controlling the operating speed of the locomotive;
其中，获取所述牵引力调节比例参数具体包括：Wherein, obtaining the traction force adjustment proportion parameter specifically includes:
基于所述目标速度与当前实际速度的差值，获得第一比例参数；Obtain a first proportional parameter based on the difference between the target speed and the current actual speed;
获取并基于当前时刻机车的被牵引车信息确定机车的当前负荷值，所述被牵引车信息包括牵引车基本参数和牵引车数量；Obtain and determine the current load value of the locomotive based on the towed vehicle information of the locomotive at the current moment, where the towed vehicle information includes the basic parameters of the towing vehicle and the number of towing vehicles;
从预先存储的负荷值和第二比例参数的对应关系中，查找得到所述当前负荷值对应的第二比例参数；Search and obtain the second proportion parameter corresponding to the current load value from the corresponding relationship between the pre-stored load value and the second proportion parameter;
基于所述第一比例参数和所述第二比例参数确定牵引力调节比例参数。A traction adjustment proportion parameter is determined based on the first proportion parameter and the second proportion parameter.
第三方面，本发明实施例提供了一种存储介质，所述存储介质上存储有程序代码，所述程序代码被处理器执行时，实现如第一方面中任一技术方案所述的机车编组牵引运行控制方法。In a third aspect, embodiments of the present invention provide a storage medium. Program code is stored on the storage medium. When the program code is executed by a processor, the locomotive grouping as described in any of the technical solutions in the first aspect is implemented. Traction operation control method.
第四方面，本发明实施例提供了一种电子设备，所述电子设备包括存储器、处理器，所述存储器上存储有可在所述处理器上运行的程序代码，所述程序代码被所述处理器执行时，实现如第一方面中任一技术方案所述的机车编组牵引运行控制方法。In a fourth aspect, embodiments of the present invention provide an electronic device. The electronic device includes a memory and a processor. The memory stores program code that can run on the processor. The program code is configured by the program code. When the processor is executed, the locomotive group traction operation control method described in any technical solution in the first aspect is implemented.
与现有技术相比，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
本发明提供的机车编组牵引运行控制方法，首先获取机车上一时刻的实际速度值以及当前时刻的实际速度值进行计算得到机车当前时刻的实际速度变化率；再获取所述主牵引机车预设的目标速度值以及与所述目标速度值匹配的恒速区间速度变化率阈值；若所述实际速度值小于所述目标速度值，且当前时刻的所述实际速度变化率小于所述恒速区间速度变化率阈值，则获取牵引力调节比例参数并将所述牵引力调节比例参数传送给所述主牵引机车以及所述辅助牵引机车，以使所述辅助牵引机车基于所述牵引力调节比例参数输出牵引力以辅助控制机车的运行速度。The locomotive grouping traction operation control method provided by the invention first obtains the actual speed value of the locomotive at the previous moment and the actual speed value at the current moment to calculate the actual speed change rate of the locomotive at the current moment; and then obtains the preset value of the main traction locomotive. The target speed value and the constant speed interval speed change rate threshold that match the target speed value; if the actual speed value is less than the target speed value, and the actual speed change rate at the current moment is less than the constant speed interval speed change rate threshold, then obtain the traction force adjustment proportion parameter and transmit the traction force adjustment proportion parameter to the main traction locomotive and the auxiliary traction locomotive, so that the auxiliary traction locomotive outputs traction based on the traction force adjustment ratio parameter to assist Control the running speed of the locomotive.
可见，本发明实施例提供的技术方案，能够在基于主牵引机车的控制机车的运行速度的同时，将由目标速度、实际速度和实际负荷值共同确定的牵引力调节比例参数同步传送给辅助牵引机车，不仅使辅助牵引机车也能基于牵引力调节比例参数来控制其自身的运行速度，还能够自动调整不同负荷条件下的控制策略，实现了主牵引机车和辅助牵引机车能够分别控制自身的运行速度，相较于现有的仅由主牵引机车来控制运行的方式，本发明的控制方式更加灵活有效。It can be seen that the technical solution provided by the embodiment of the present invention can control the operating speed of the locomotive based on the main traction locomotive, and at the same time, the traction force adjustment proportion parameter determined by the target speed, the actual speed and the actual load value can be synchronously transmitted to the auxiliary traction locomotive. Not only can the auxiliary traction locomotive control its own running speed based on the traction force adjustment ratio parameter, but it can also automatically adjust the control strategy under different load conditions, so that the main traction locomotive and the auxiliary traction locomotive can control their own running speed respectively. Compared with the existing mode of operation controlled only by the main traction locomotive, the control mode of the present invention is more flexible and effective.
本发明实施例的创新点包括：The innovative points of the embodiments of the present invention include:
根据机车的当前负荷值以及目标速度与当前实际速度的差值，共同确定牵引力调节比例参数，并同步发送至主牵引机车和辅助牵引机车，以使所述辅助牵引机车基于所述牵引力调节比例参数输出牵引力以辅助控制机车的运行速度，相较于现有的仅由主牵引机车来控制运行的方式，本发明的控制方式更加灵活有效，是本发明实施例的创新点之一。According to the current load value of the locomotive and the difference between the target speed and the current actual speed, the traction force adjustment proportion parameter is jointly determined and sent to the main traction locomotive and the auxiliary traction locomotive simultaneously, so that the auxiliary traction locomotive adjusts the traction force proportion parameter based on the The traction force is output to assist in controlling the operating speed of the locomotive. Compared with the existing method in which the operation is controlled only by the main traction locomotive, the control method of the present invention is more flexible and effective, which is one of the innovations of the embodiments of the present invention.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.
图1为本发明一个实施例的一种机车编组牵引运行控制方法的流程图；Figure 1 is a flow chart of a locomotive group traction operation control method according to an embodiment of the present invention;
图2为本发明一个实施例的一种机车编组牵引运行控制装置的模块图。Figure 2 is a module diagram of a locomotive group traction operation control device according to an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without exerting creative efforts fall within the scope of protection of the present invention.
需要说明的是，本发明实施例及附图中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes Other steps or units inherent to such processes, methods, products or devices.
为了更好的理解本发明实施例，首先对现有技术中常用的超声波检测方法进行介绍。图1为本发明一个实施例的一种机车编组牵引运行控制方法的流程图。如图1所示，一种机车编组牵引运行控制方法，所述机车编组包括主牵引机车和辅助牵引机车，所述主牵引机车和所述辅助牵引机车之间还设有若干被牵引车，所述主牵引机车和所述辅助牵引机车上均设有重联控制单元，所述重联控制单元之间互相通信构成无线重联管理系统，所述方法应用于所述无线重联管理系统，包括以下步骤：In order to better understand the embodiments of the present invention, the ultrasonic detection methods commonly used in the prior art are first introduced. Figure 1 is a flow chart of a locomotive group traction operation control method according to an embodiment of the present invention. As shown in Figure 1, a locomotive group traction operation control method is provided. The locomotive group includes a main traction locomotive and an auxiliary traction locomotive. There are also several towed vehicles between the main traction locomotive and the auxiliary traction locomotive. The main traction locomotive and the auxiliary traction locomotive are both equipped with reconnection control units, and the reconnection control units communicate with each other to form a wireless reconnection management system. The method is applied to the wireless reconnection management system, including Following steps:
步骤S101，获取所述主牵引机车上一时刻的实际速度值以及当前时刻的实际速度值，得到所述主牵引机车当前时刻的实际速度变化率；Step S101, obtain the actual speed value of the main traction locomotive at the previous moment and the actual speed value at the current moment, and obtain the actual speed change rate of the main traction locomotive at the current moment;
步骤S102，获取所述主牵引机车预设的目标速度值以及与所述目标速度值匹配的恒速区间速度变化率阈值；Step S102, obtain the preset target speed value of the main traction locomotive and the constant speed interval speed change rate threshold that matches the target speed value;
步骤S103，若所述实际速度值小于所述目标速度值，且当前时刻的所述实际速度变化率小于所述恒速区间速度变化率阈值，则获取牵引力调节比例参数并将所述牵引力调节比例参数传送给所述主牵引机车以及所述辅助牵引机车，以使所述辅助牵引机车基于所述牵引力调节比例参数输出牵引力以辅助控制机车的运行速度；Step S103, if the actual speed value is less than the target speed value, and the actual speed change rate at the current moment is less than the constant speed interval speed change rate threshold, obtain the traction force adjustment proportion parameter and adjust the traction force adjustment ratio. The parameters are transmitted to the main traction locomotive and the auxiliary traction locomotive, so that the auxiliary traction locomotive outputs traction force based on the traction force adjustment proportion parameter to assist in controlling the operating speed of the locomotive;
其中，获取所述牵引力调节比例参数具体包括：Wherein, obtaining the traction force adjustment proportion parameter specifically includes:
基于所述目标速度与当前实际速度的差值，获得第一比例参数；Obtain a first proportional parameter based on the difference between the target speed and the current actual speed;
获取并基于当前时刻机车的被牵引车信息确定机车的当前负荷值，所述被牵引车信息包括牵引车基本参数和牵引车数量；Obtain and determine the current load value of the locomotive based on the towed vehicle information of the locomotive at the current moment, where the towed vehicle information includes the basic parameters of the towing vehicle and the number of towing vehicles;
从预先存储的负荷值和第二比例参数的对应关系中，查找得到所述当前负荷值对应的第二比例参数；Search and obtain the second proportion parameter corresponding to the current load value from the corresponding relationship between the pre-stored load value and the second proportion parameter;
基于所述第一比例参数和所述第二比例参数确定牵引力调节比例参数。A traction adjustment proportion parameter is determined based on the first proportion parameter and the second proportion parameter.
主牵引机车和辅助牵引机车之间设有若干被牵引车，主牵引机车和辅助牵引机车均可以控制机车编组的运行和制动，中间编入的若干被牵引车可以为综合检测车或者供电车。编组中的主牵引机车和辅助牵引机车可作为单独的机车运行，正常情况下，仅需一节车牵引或者制动，实现单车牵引，依托现有设备，两节机车之间还需要实现信息互通与显示、故障信息和状态等。当主牵引机车作为牵引机车，若运行过程中出现故障，能在主牵引机车操纵辅助牵引机车作为动力车，同样，辅助牵引机车同样可以操纵主牵引机车作为动力车。作为一个示例，基于直流车安装重载组合列车无线同步操控系统，通过无线重联系统实现主牵引机车和辅助牵引机车之间的通信。There are several towed vehicles between the main traction locomotive and the auxiliary traction locomotive. Both the main traction locomotive and the auxiliary traction locomotive can control the operation and braking of the locomotive group. The several towed vehicles in the middle can be comprehensive inspection vehicles or power supply vehicles. . The main traction locomotive and the auxiliary traction locomotive in the group can operate as separate locomotives. Under normal circumstances, only one locomotive is required for traction or braking to achieve single-vehicle traction. Relying on existing equipment, information exchange between the two locomotives is also required. and display, fault information and status, etc. When the main traction locomotive serves as a traction locomotive, if a failure occurs during operation, the auxiliary traction locomotive can be operated by the main traction locomotive as a power vehicle. Similarly, the auxiliary traction locomotive can also operate the main traction locomotive as a power vehicle. As an example, a heavy-duty combined train wireless synchronization control system is installed based on DC trains, and communication between the main traction locomotive and the auxiliary traction locomotive is realized through the wireless reconnection system.
作为一个示例，被牵引车基本参数包括车辆型号、车辆重量、载货重量等，具体的，基于当前时刻机车的被牵引车信息，结合动力学分析，可以确定机车的当前负荷值，具体可以参见现有技术，这里不做赘述。机车编组中每一个机车上均可以安装有传感器，通过传感器获取主牵引机车的速度值。As an example, the basic parameters of the towed vehicle include vehicle model, vehicle weight, cargo weight, etc. Specifically, based on the towed vehicle information of the locomotive at the current moment, combined with dynamic analysis, the current load value of the locomotive can be determined. For details, see The existing technology will not be described in detail here. Each locomotive in the locomotive group can be equipped with a sensor, and the speed value of the main traction locomotive is obtained through the sensor.
主牵引机车可以将牵引力调节比例参数传送给辅助牵引机车，辅助牵引机车可以根据牵引力调节比例参数计算并确定其要输出的牵引力。作为一个示例，可以预先建立牵引力调节比例参数与牵引力的对应关系并存储，形成二维表格，继而可以通过查找二维表格的形式确定辅助牵引机车需要输出的牵引力。The main traction locomotive can transmit the traction force adjustment proportion parameter to the auxiliary traction locomotive, and the auxiliary traction locomotive can calculate and determine the traction force to be output based on the traction force adjustment ratio parameter. As an example, the corresponding relationship between the traction force adjustment proportion parameter and the traction force can be established in advance and stored to form a two-dimensional table, and then the traction force that the auxiliary traction locomotive needs to output can be determined by searching the two-dimensional table.
恒速区间速度变化率阈值是根据机车运行工况数据的历史数据得到的，针对不同的速度值，设定相对应的恒速区间速度变化率阈值。The constant speed section speed change rate threshold is obtained based on the historical data of the locomotive operating condition data. For different speed values, the corresponding constant speed section speed change rate threshold is set.
在确定完牵引力调节比例参数后，除了主牵引车之外还同步发送至辅助牵引机车的控制系统中。辅助牵引机车根据该牵引力调节参数确定要输出的牵引力，两机车共同输出控制机车编组的运行。After determining the traction force adjustment proportion parameters, in addition to the main traction vehicle, they are also simultaneously sent to the control system of the auxiliary traction locomotive. The auxiliary traction locomotive determines the traction force to be output based on the traction force adjustment parameter, and the two locomotives jointly output to control the operation of the locomotive group.
基于所述目标速度与当前实际速度的差值，获得第一比例参数，具体的，差值越大，第一比例参数越大，同样的，第二比例参数与负荷值也正相关，基于所述第一比例参数和所述第二比例参数确定牵引力调节比例参数，具体可以包括：第一比例参数与第二比例参数相乘或者加权后相乘得到牵引力调节比例参数。Based on the difference between the target speed and the current actual speed, the first proportional parameter is obtained. Specifically, the greater the difference, the greater the first proportional parameter. Similarly, the second proportional parameter is also positively related to the load value. Based on the The first proportional parameter and the second proportional parameter determine the traction force adjustment proportional parameter, which may specifically include: multiplying or weighting the first proportional parameter and the second proportional parameter to obtain the traction force adjustment proportional parameter.
具体的，被牵引车的数量越多，负荷越大，在需要提速时，主牵引机车单独牵引控制时，从当前实际速度值达到目标速度值所需的时间就越长，而本发明实施例提供的方法，不同于传统的单牵引模式，是综合考虑负荷和速度变化率两个维度，共同确定牵引力调节参数，以便于主牵引机车和辅助牵引机车协同作用，共同实现机车编组的速度平稳变化且可控。Specifically, the greater the number of towed vehicles, the greater the load. When the speed needs to be increased, when the main traction locomotive is under independent traction control, the longer it takes to reach the target speed value from the current actual speed value, and the embodiment of the present invention The method provided is different from the traditional single traction mode. It comprehensively considers the two dimensions of load and speed change rate to jointly determine the traction adjustment parameters, so that the main traction locomotive and the auxiliary traction locomotive can work together to jointly achieve a smooth change in the speed of the locomotive group. And controllable.
本发明实施例提供的控制方法能够在基于主牵引机车的控制机车的运行速度的同时，将由目标速度、实际速度和实际负荷值共同确定的牵引力调节比例参数同步传送给辅助牵引机车，不仅使辅助牵引机车也能基于牵引力调节比例参数来控制其自身的运行速度，还能够自动调整不同负荷条件下的控制策略，实现了主牵引机车和辅助牵引机车能够分别控制自身的运行速度，相较于现有的仅由主牵引机车来控制运行的方式，本发明的控制方式更加灵活有效。The control method provided by the embodiment of the present invention can simultaneously control the operating speed of the locomotive based on the main traction locomotive, and simultaneously transmit the traction force adjustment proportion parameters jointly determined by the target speed, actual speed and actual load value to the auxiliary traction locomotive. The traction locomotive can also control its own running speed based on the traction force adjustment proportion parameter, and can also automatically adjust the control strategy under different load conditions, enabling the main traction locomotive and the auxiliary traction locomotive to control their own running speed respectively. Compared with the current Some modes of operation are controlled only by the main traction locomotive, but the control mode of the present invention is more flexible and effective.
根据机车的当前负荷值以及目标速度与当前实际速度的差值，共同确定牵引力调节比例参数，并同步发送至主牵引机车和辅助牵引机车，以使所述辅助牵引机车基于所述牵引力调节比例参数输出牵引力以辅助控制机车的运行速度，相较于现有的仅由主牵引机车来控制运行的方式，本发明的控制方式更加灵活有效，是本发明实施例的创新点之一。According to the current load value of the locomotive and the difference between the target speed and the current actual speed, the traction force adjustment proportion parameter is jointly determined and sent to the main traction locomotive and the auxiliary traction locomotive simultaneously, so that the auxiliary traction locomotive adjusts the traction force proportion parameter based on the The traction force is output to assist in controlling the operating speed of the locomotive. Compared with the existing method in which the operation is controlled only by the main traction locomotive, the control method of the present invention is more flexible and effective, which is one of the innovations of the embodiments of the present invention.
一种实现方式中，所述第一比例参数与目标速度与当前实际速度的差值正相关。In one implementation, the first proportional parameter is positively related to the difference between the target speed and the current actual speed.
一种实现方式中，所述机车编组牵引运行控制方法还包括：In one implementation, the locomotive group traction operation control method further includes:
基于机车运行工况的历史数据，针对不同的目标速度值，预先设定相对应的恒速区间速度变化率阈值。Based on the historical data of the locomotive's operating conditions, corresponding constant speed interval speed change rate thresholds are preset for different target speed values.
一种实现方式中，所述机车编组牵引运行控制方法还包括：In one implementation, the locomotive group traction operation control method further includes:
若所述实际速度值小于所述目标速度值，且当前时刻的所述实际速度变化率大于预设的恒速区间速度变化率阈值时，则利用预设的速度阶梯参数，减小机车下一时刻的所述实际速度值。If the actual speed value is less than the target speed value, and the actual speed change rate at the current moment is greater than the preset constant speed interval speed change rate threshold, the preset speed step parameters are used to reduce the next step of the locomotive. The actual speed value at that time.
利用速度阶梯函数减缓速度的变化。Use the speed step function to slow down changes in speed.
一种实现方式中，所述获取所述主牵引机车预设的目标速度值，具体包括：In one implementation, obtaining the preset target speed value of the main traction locomotive specifically includes:
根据所述主牵引机车的速度调节旋钮的位置获取对应的电压信号，按电压与速度的线性关系计算出对应的目标速度值。The corresponding voltage signal is obtained according to the position of the speed adjustment knob of the main traction locomotive, and the corresponding target speed value is calculated according to the linear relationship between voltage and speed.
图2为本发明一个实施例的一种机车编组牵引运行控制装置的模块图。Figure 2 is a module diagram of a locomotive group traction operation control device according to an embodiment of the present invention.
如图2所示，一种机车编组牵引运行控制装置200，包括：As shown in Figure 2, a locomotive group traction operation control device 200 includes:
第一获取单元210，用于获取机车上一时刻的实际速度值以及当前时刻的实际速度值，得到机车当前时刻的实际速度变化率；其中，机车编组包括主牵引机车和辅助牵引机车，所述主牵引机车和所述辅助牵引机车之间还设有若干被牵引车，所述主牵引机车和所述辅助牵引机车上均设有重联控制单元，所述重联控制单元之间互相通信构成无线重联管理系统；The first acquisition unit 210 is used to obtain the actual speed value of the locomotive at the previous moment and the actual speed value at the current moment, and obtain the actual speed change rate of the locomotive at the current moment; wherein the locomotive grouping includes a main traction locomotive and an auxiliary traction locomotive, There are also several towed vehicles between the main traction locomotive and the auxiliary traction locomotive. The main traction locomotive and the auxiliary traction locomotive are equipped with reconnection control units. The reconnection control units communicate with each other. Wireless reconnection management system;
第二获取单元220，用于获取所述主牵引机车预设的目标速度值以及与所述目标速度值匹配的恒速区间速度变化率阈值；The second acquisition unit 220 is used to acquire the preset target speed value of the main traction locomotive and the constant speed interval speed change rate threshold that matches the target speed value;
调节比例参数单元230，用于若所述实际速度值小于所述目标速度值，且当前时刻的所述实际速度变化率小于所述恒速区间速度变化率阈值，则获取牵引力调节比例参数并将所述牵引力调节比例参数传送给所述主牵引机车以及所述辅助牵引机车，以使所述辅助牵引机车基于所述牵引力调节比例参数输出牵引力以辅助控制机车的运行速度；The adjustment proportion parameter unit 230 is configured to obtain the traction force adjustment proportion parameter if the actual speed value is less than the target speed value and the actual speed change rate at the current moment is less than the constant speed interval speed change rate threshold. The traction force adjustment proportion parameter is transmitted to the main traction locomotive and the auxiliary traction locomotive, so that the auxiliary traction locomotive outputs traction based on the traction force adjustment ratio parameter to assist in controlling the operating speed of the locomotive;
其中，获取所述牵引力调节比例参数具体包括：Wherein, obtaining the traction force adjustment proportion parameter specifically includes:
基于所述目标速度与当前实际速度的差值，获得第一比例参数；Obtain a first proportional parameter based on the difference between the target speed and the current actual speed;
获取并基于当前时刻机车的被牵引车信息确定机车的当前负荷值，所述被牵引车信息包括牵引车基本参数和牵引车数量；Obtain and determine the current load value of the locomotive based on the towed vehicle information of the locomotive at the current moment, where the towed vehicle information includes the basic parameters of the towing vehicle and the number of towing vehicles;
从预先存储的负荷值和第二比例参数的对应关系中，查找得到所述当前负荷值对应的第二比例参数；Search and obtain the second proportion parameter corresponding to the current load value from the corresponding relationship between the pre-stored load value and the second proportion parameter;
基于所述第一比例参数和所述第二比例参数确定牵引力调节比例参数。A traction adjustment proportion parameter is determined based on the first proportion parameter and the second proportion parameter.
本发明的又一实施例提供了一种存储介质，所述存储介质上存储有程序代码，所述程序代码被处理器执行时，实现如上述任一实施例所述的机车编组牵引运行控制方法。Another embodiment of the present invention provides a storage medium. Program code is stored on the storage medium. When the program code is executed by a processor, the locomotive grouping traction operation control method as described in any of the above embodiments is implemented. .
本发明的又一实施例提供了一种电子设备，所述电子设备包括存储器、处理器，所述存储器上存储有可在所述处理器上运行的程序代码，所述程序代码被所述处理器执行时，实现如任一实施例所述的机车编组牵引运行控制方法。Another embodiment of the present invention provides an electronic device. The electronic device includes a memory and a processor. The memory stores program code that can run on the processor. The program code is processed by the processor. When the processor is executed, the locomotive group traction operation control method as described in any embodiment is implemented.
与现有技术相比，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
本领域普通技术人员可以理解：附图只是一个实施例的示意图，附图中的模块或流程并不一定是实施本发明所必须的。Those of ordinary skill in the art can understand that the accompanying drawing is only a schematic diagram of an embodiment, and the modules or processes in the accompanying drawing are not necessarily necessary for implementing the present invention.
本领域普通技术人员可以理解：实施例中的装置中的模块可以按照实施例描述分布于实施例的装置中，也可以进行相应变化位于不同于本实施例的一个或多个装置中。上述实施例的模块可以合并为一个模块，也可以进一步拆分成多个子模块。Those of ordinary skill in the art can understand that the modules in the device in the embodiment may be distributed in the device in the embodiment according to the description of the embodiment, or may be correspondingly changed and located in one or more devices different from this embodiment. The modules of the above embodiments can be combined into one module, or further divided into multiple sub-modules.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be used Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
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| WO2010060083A2 (en) * | 2008-11-24 | 2010-05-27 | General Electronic Company | Control system and method for controlling movement of an off-highway vehicle |
| CN113911148A (en) * | 2021-11-18 | 2022-01-11 | 株洲中车时代电气股份有限公司 | Multi-locomotive reconnection low-constant speed control method and device |
| WO2023015813A1 (en) * | 2021-08-10 | 2023-02-16 | 中车戚墅堰机车有限公司 | Hybrid shunting locomotive traction control method |
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2023
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| AU2009316336A1 (en) * | 2008-11-24 | 2010-05-27 | General Electronic Company | Control system and method for controlling movement of an off-highway vehicle |
| WO2023015813A1 (en) * | 2021-08-10 | 2023-02-16 | 中车戚墅堰机车有限公司 | Hybrid shunting locomotive traction control method |
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