CN110954201A - Train body total mass measuring system and method - Google Patents
Train body total mass measuring system and method Download PDFInfo
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- CN110954201A CN110954201A CN201911338159.3A CN201911338159A CN110954201A CN 110954201 A CN110954201 A CN 110954201A CN 201911338159 A CN201911338159 A CN 201911338159A CN 110954201 A CN110954201 A CN 110954201A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
- G01G19/04—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing railway vehicles
- G01G19/045—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing railway vehicles for weighing railway vehicles in motion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention provides a train body total mass measuring system, comprising: the system comprises a force measuring sensor, a speed sensor, an acceleration sensor, a satellite positioning unit and a vehicle-mounted computer which are arranged on a train. The vehicle-mounted computer is connected with the force measuring sensor, the speed sensor, the acceleration sensor and the satellite positioning unit and used for calculating the total mass of the train body according to the real-time measuring data of the force measuring sensor, the speed sensor and the acceleration sensor and the train longitude and latitude parameters acquired by the satellite positioning unit and train operation line track parameters preset in the vehicle-mounted computer and inputting the train body total mass into the automatic train driving system. The invention further provides a train body total mass measuring method. The invention can automatically input the total mass of the train body into the ATO system before the train does not reach the maximum allowable speed, thereby providing important basis for the accurate train control of the ATO system. The invention has the advantages of reliable calculation result, high efficiency, no need of manual operation and the like.
Description
Technical Field
The invention relates to the field of train control, in particular to a system and a method for measuring the total mass of a train body.
Background
In the existing Train control system, the total mass of a Train body is generally manually input by a driver before the Train runs, and is used as a basic parameter for calculating the braking distance of the Train, so that an important basis is provided for the control of an Automatic Train Operation (ATO) system.
In the existing methods for estimating the total mass of the vehicle body, a conventional method, an equalization method, an acceleration method, an override method, and the like are generally used. Wherein: the traditional method is to keep the train in constant linear motion at a lower speed, and at the moment, the traction force of the locomotive is considered to be equal to the rolling friction resistance, a physical equation of the rolling friction force is established, and the total mass of the train body can be reversely calculated. The equalizing method is that when the train runs on a straight track at the maximum speed, the traction force of the locomotive is considered to be equal to the basic resistance of the train, and the total mass of the train body is obtained by reverse calculation after an equation is established. The acceleration method is that when the train reaches the highest speed on a straight road, the train still has certain acceleration, at the moment, the traction force of the locomotive is equal to the train resistance at the same speed, and the train mass is solved reversely after an integral stress equation is established. The overrunning method is characterized in that when a train runs on a straight road at a speed exceeding the highest speed, the locomotive traction force of the train is equal to the train resistance at the same speed, and then the train quality is solved. The acceleration method and the overrun method have the same disadvantages as the equalization method.
Disclosure of Invention
The invention aims to provide a train body total mass measuring system and a train body total mass measuring method, which can calculate the total mass of a train body and input the total mass into an ATO system before a train does not reach the maximum allowable speed, thereby providing an important basis for the accurate train control of the ATO system.
In order to achieve the above object, the present invention provides a system for measuring total mass of train bodies, wherein the train comprises a locomotive and a plurality of train bodies drawn by the locomotive, the system comprises: the system comprises a force measuring sensor, a speed sensor, an acceleration sensor, a satellite positioning unit and a vehicle-mounted computer which are arranged on a train;
the force measuring sensor is used for measuring the tensile stress value borne by the train body in the running process of the train in real time;
the speed sensor is used for measuring the speed value of train operation in real time;
the acceleration sensor is used for measuring the running acceleration value of the train in real time;
the satellite positioning unit is used for acquiring the geographical position of the train;
the vehicle-mounted computer is connected with the force measuring sensor, the speed sensor, the acceleration sensor and the satellite positioning unit and used for calculating to obtain the total mass of the train body according to the real-time measuring data of the force measuring sensor, the speed sensor and the acceleration sensor and the train longitude and latitude parameters obtained by the satellite positioning unit and the train operation line track parameters preset in the vehicle-mounted computer.
The train operation line track parameters comprise: track slope value, track curvature value and comprehensive friction coefficient.
The force measuring sensor is arranged at a coupler between the locomotive and a locomotive body connected with the locomotive.
The speed sensor is mounted on a non-powered shaft of the locomotive bogie.
And the speed sensor and the acceleration sensor send the acquired speed value and the acquired acceleration value to the vehicle-mounted computer at the same frequency.
The vehicle-mounted computer is connected with an automatic train driving system.
The invention discloses a train body total mass measuring method, which is realized by adopting the train body total mass measuring system and comprises the following steps:
after the train is started, the train runs on a linear track and is in an acceleration stage, and when power wheels of the train do not idle, the vehicle-mounted computer calculates the total mass of the train body in real time and transmits the calculated total mass of the train body to an automatic train driving system in real time;
wherein m is the total mass of the train body; ftraMeasuring the tensile stress value obtained by the force transducer; a istThe acceleration value of the current moment measured by the acceleration sensor is mu, the comprehensive friction coefficient is prestored by the vehicle-mounted computer, α is a track gradient value prestored by the vehicle-mounted computer, α is positive when the train ascends a slope, α is negative when the train descends the slope, and g is the local gravity acceleration value.
And the vehicle-mounted computer judges whether the train is in an acceleration stage or not according to the acceleration value measured by the acceleration sensor, and if the measured acceleration value is greater than zero, the train is judged to be in the acceleration stage.
The method for determining that the train runs on the straight track comprises the following steps:
the method comprises the following steps that a satellite positioning unit obtains longitude and latitude parameters of the position of a train and sends the longitude and latitude parameters to an on-board computer;
and the vehicle-mounted computer acquires a track curvature value which is pre-stored in the vehicle-mounted computer and matched with the position of the train according to the longitude and latitude parameters, and when the track curvature value is zero, the train is determined to run on the linear track.
The method for judging whether the power wheel of the locomotive idles by the vehicle-mounted computer comprises the following steps:
if av,t-atIf the | is less than or equal to delta a, judging that the power wheel does not idle;
wherein a isv,t＝f·(vt-vt-1)；vtIs a speed sensorMeasured speed value v of the current timet-1For the previous moment of speed value measured by the speed sensor, atF is the frequency of the speed sensor sending the collected speed value to the vehicle-mounted computer, and delta a is an idle slip judgment factor.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention can automatically calculate the total mass of the train body through a preset algorithm according to the train speed, the train acceleration, the track parameters and the tensile stress value borne by the train body which are measured in real time in the running process of the train.
2) Compared with the traditional method in the prior art, the method for measuring the total mass of the train body can judge whether the power wheel of the locomotive idles, ensure that the acceleration value used for calculating the total mass of the train body is the value measured under the condition that the power wheel does not idle, avoid the error caused by the idle running of the power wheel and ensure that the calculation result of the total mass of the train body is more credible.
3) Compared with an acceleration method, an overrunning method and an equalizing method in the prior art, the method can obtain the total mass of the train body at the train starting stage, and the total weight of the train body does not need to be measured when the train runs on a straight track at the maximum speed, so that the potential risk of controlling the train under the condition that the train body mass of the ATO system is unknown is reduced. Meanwhile, in the starting stage of the train, the air resistance can be ignored due to low speed, so that the measurement accuracy of the total mass of the train body is improved; and the maximum braking distance value is not needed, so that the transportation efficiency is improved.
4) The train body total mass measuring system can automatically input the measured train body total mass into the ATO system, and improves the working efficiency and the automation degree of the ATO system.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are an embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts according to the drawings:
FIG. 1 is a schematic view of a train body total mass measurement system of the present invention installed in a train;
FIG. 2 is a schematic structural diagram of a train body total mass measuring system of the present invention;
FIG. 3 is a schematic view of the train body stress when the train is on a linear track;
FIG. 4 is a flow chart of a train body gross mass method of the present invention;
in the figure: 1. a force sensor; 2. a speed sensor; 3. an acceleration sensor; 4. a satellite positioning unit; 41. a GPS antenna; 42. a GPS receiver; 5. an on-board computer; 6. an ATO system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a train body total mass measuring system. The total mass of the train body refers to the mass of all train bodies of the train. As shown in fig. 2, the train body total mass measuring system of the present invention includes: the device comprises a force measuring sensor 1, a speed sensor 2, an acceleration sensor 3, a satellite positioning unit 4 and an on-board computer 5 which are arranged on a train.
As shown in fig. 1, the force measuring sensor 1 is installed at a coupler between a locomotive and a locomotive body connected with the locomotive, and is used for measuring a tensile stress value borne by the locomotive body in a running process of a train in real time;
the speed sensor 2 is used for measuring the speed value of train operation in real time; in an embodiment of the invention, as shown in figure 1, the speed sensor 2 is mounted on the non-powered axle of the locomotive bogie.
The acceleration sensor 3 is used for measuring the running acceleration value of the train in real time; as shown in fig. 1, in the embodiment of the present invention, the acceleration sensor 3 is disposed in a cabinet of a locomotive; and the speed sensor 2 and the acceleration sensor 3 send the acquired speed value and the acquired acceleration value to the vehicle-mounted computer 5 at the same frequency.
The satellite positioning unit 4 is used for acquiring the geographical position of the train and comprises a GPS antenna 41 and a GPS receiver 42. The GPS antenna 41 is used for receiving GPS signals, the GPS receiver 42 is arranged between the GPS antenna 41 and the vehicle computer 5 in a signal connection mode, and the GPS receiver 42 acquires the geographical position of the train according to the GPS signals and sends the geographical position to the vehicle computer 5. The geographical position of the train specifically refers to longitude and latitude parameters of the location of the train. As shown in FIG. 1, in an embodiment of the present invention, a GPS antenna 41 is mounted on the roof of the locomotive and a GPS receiver 42 is placed within the cabinet of the locomotive. The GPS antenna 41 transmits the received GPS signal to the GPS receiver 42 in a serial communication manner, and the GPS receiver 42 performs real-time processing on the GPS signal, and transmits the processed GPS signal to the on-board computer 5 in a serial communication manner after resolving a corresponding latitude and longitude value.
The vehicle-mounted computer 5 is provided with an electronic map, and the electronic map is prestored with track parameters of a train running line; the train operation line track parameters comprise: track slope value, track curvature value and comprehensive friction coefficient. And the vehicle-mounted computer 5 is connected with the force measuring sensor 1, the speed sensor 2, the acceleration sensor 3 and the satellite positioning unit 4, and calculates to obtain the total mass of the train body according to the track parameters, the measured tensile stress value, the speed value, the acceleration value and the geographical position of the train and a preset algorithm. The vehicle computer 5 is also connected to an ATO system 6.
As shown in FIG. 1, in an embodiment of the present invention, the on-board computer 5 is disposed within a cabinet of a locomotive.
A method for measuring the total mass of a train body is realized by adopting the system for measuring the total mass of the train body, and as shown in figure 4, the method comprises the following steps:
s1, self-checking the train, and starting the train if the self-checking is passed;
step S1 specifically includes:
s11, before the train is started, self-checking the satellite positioning unit 4, the acceleration sensor 3 and the speed sensor 2 through the vehicle-mounted computer 5, and if the self-checking is passed, entering S12;
and S12, automatically updating the electronic map, performing CRC (cyclic redundancy check) on the electronic map, and starting the train if the electronic map passes the CRC.
As shown in FIG. 3, when the operator positions the power handle in a certain position, the locomotive begins to deliver tractive effort Ftra. If the tractive force FtraGreater than the total resistance F of the locomotive and the vehicle bodyresWhen the train starts to move, FresIncluding maximum static friction force FfriThe total weight of the train body is the sum of components mgsin α along the horizontal plane of the track, m is the total mass of the train body, α is the track slope value (α is positive when the train ascends the slope and α is negative when the train descends the slope), otherwise, the driver can only continue to increase the output power of the locomotive to move the train, and the speed sensor 2 and the acceleration sensor 3 both input the measured speed value and the measured acceleration value at the current moment to the on-board computer 5 at set frequency.
S2, judging whether the train is started or not by the vehicle-mounted computer 5; when the train starts, the step goes to S3;
specifically, the vehicle-mounted computer 5 judges whether the train is in an acceleration stage according to an acceleration value measured by the acceleration sensor 3; if the measured acceleration value is larger than zero, judging that the train is started;
s3, if the train is located on the linear track and is in an acceleration stage, entering S4;
step S3 specifically includes:
s31, the satellite positioning unit 4 obtains the longitude and latitude parameters of the location of the train and sends the longitude and latitude parameters to the vehicle-mounted computer 5;
s32, the vehicle-mounted computer 5 obtains the track parameters of the position of the train according to the map matching algorithm through the electronic map according to the longitude and latitude parameters;
s33, the vehicle-mounted computer 5 judges whether the train is located on the straight track according to the track curvature value in the track parameters;
and S34, when the train is positioned on the straight track, if the acceleration value measured by the acceleration sensor 3 is greater than zero, the process goes to S4.
S4, the vehicle computer 5 judges whether the power wheel of the locomotive idles, and the specific method is as follows:
if av,t-at|≤δa， (1)
Judging that the power wheel does not idle;
wherein a isv,t＝f·(vt-vt-1)； (2)
vtIs the velocity value at the current moment, vt-1Is the velocity value of the previous moment, atF is the frequency of the speed sensor 2 sending the collected speed value to the vehicle-mounted computer 5, δ a is an idle slip judgment factor, and δ a is an empirical value based on a large number of experimental results;
if the power wheel does not idle, the step S5 is carried out;
and S5, calculating the total mass of the train body by the vehicle-mounted computer 5 according to the measured acceleration value, the measured speed value, the measured tensile stress value and the measured track parameter of the position of the train, and inputting the total mass of the train body into the automatic train driving system.
The specific method for calculating the total mass of the train body by the vehicle-mounted computer 5 comprises the following steps:
according to the stress diagram of the vehicle body shown in fig. 3, the vehicle-mounted computer 5 calculates and solves the total mass of the vehicle body according to the equations (3) to (5).
Ftra-Ff-mgsinα＝mat(3)
Ff＝μN (4)
N＝mgcosα (5)
Wherein m is the total mass of the vehicle body; ftraThe tensile stress value measured for the load cell 1; a istIs the acceleration value at the current moment, mu is the comprehensive friction coefficient, α is the track gradient value, α is positive when the train goes up the slope and α is negative when the train goes down the slope, and the calculation result is
Compared with the prior art, the invention has the beneficial effects that:
1) the invention can automatically calculate the total mass of the train body through a preset algorithm according to the train speed, the train acceleration, the track parameters and the tensile stress value borne by the train body which are measured in real time in the running process of the train.
2) Compared with the traditional method in the prior art, the method for measuring the total mass of the train body can judge whether the power wheel of the locomotive idles, ensure that the acceleration value used for calculating the total mass of the train body is the value measured under the condition that the power wheel does not idle, avoid the error caused by the idle running of the power wheel and ensure that the calculation result of the total mass of the train body is more credible.
3) Compared with an acceleration method, an overrunning method and an equalizing method in the prior art, the method can obtain the total mass of the train body at the train starting stage, and the total weight of the train body does not need to be measured when the train runs on a straight track at the maximum speed, so that the potential risk of controlling the train under the condition that the mass of the train body is unknown by the ATO system 6 is reduced. Meanwhile, in the starting stage of the train, the air resistance can be ignored due to low speed, so that the measurement accuracy of the total mass of the train body is improved; and the maximum braking distance value is not needed, so that the transportation efficiency is improved.
4) The train body total mass measuring system can automatically input the measured train body total mass into the ATO system, and improves the working efficiency and the automation degree of the ATO system.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A train body total mass measurement system, the train comprising a locomotive and a plurality of bodies towed by the locomotive, the measurement system comprising: the system comprises a force measuring sensor, a speed sensor, an acceleration sensor, a satellite positioning unit and a vehicle-mounted computer which are arranged on a train;
the force measuring sensor is used for measuring the tensile stress value borne by the train body in the running process of the train in real time;
the speed sensor is used for measuring the speed value of train operation in real time;
the acceleration sensor is used for measuring the running acceleration value of the train in real time;
the satellite positioning unit is used for acquiring the geographical position of the train;
the vehicle-mounted computer is connected with the force measuring sensor, the speed sensor, the acceleration sensor and the satellite positioning unit and used for calculating to obtain the total mass of the train body according to the real-time measuring data of the force measuring sensor, the speed sensor and the acceleration sensor and the train longitude and latitude parameters obtained by the satellite positioning unit and the train operation line track parameters preset in the vehicle-mounted computer.
2. The train body gross mass measurement system of claim 1, wherein said train operating line track parameters comprise: track slope value, track curvature value and comprehensive friction coefficient.
3. The train body gross mass measurement system of claim 1, wherein the load cell is mounted at a coupler between the locomotive and a body coupled to the locomotive.
4. The train body gross mass measurement system of claim 1, wherein said speed sensor is mounted on a non-powered axle of a locomotive bogie.
5. The train body gross mass measurement system of claim 1, wherein the speed sensor and the acceleration sensor transmit the collected speed value and acceleration value to the on-board computer at the same frequency.
6. The train body gross mass measurement system of claim 1, wherein the on-board computer is coupled to a train autopilot system.
7. A train body total mass measuring method realized by the train body total mass measuring system according to any one of claims 1 to 6, characterized by comprising the steps of:
after the train is started, the train runs on a linear track and is in an acceleration stage, and when power wheels of the train do not idle, the vehicle-mounted computer calculates the total mass of the train body in real time and transmits the calculated total mass of the train body to an automatic train driving system in real time;
wherein m is the total mass of the train body; ftraMeasuring the tensile stress value obtained by the force transducer; a istThe acceleration value of the current moment measured by the acceleration sensor is mu, the comprehensive friction coefficient is prestored by the vehicle-mounted computer, α is a track gradient value prestored by the vehicle-mounted computer, α is positive when the train ascends a slope, α is negative when the train descends the slope, and g is the local gravity acceleration value.
8. The method of claim 7, wherein the on-board computer determines whether the train is in the acceleration phase based on the acceleration value measured by the acceleration sensor, and determines that the train is in the acceleration phase if the measured acceleration value is greater than zero.
9. The method of measuring the total train body mass of claim 7, wherein the method of determining that the train is traveling on a straight track comprises:
the method comprises the following steps that a satellite positioning unit obtains longitude and latitude parameters of the position of a train and sends the longitude and latitude parameters to an on-board computer;
and the vehicle-mounted computer acquires a track curvature value which is pre-stored in the vehicle-mounted computer and matched with the position of the train according to the longitude and latitude parameters, and when the track curvature value is zero, the train is determined to run on the linear track.
10. The method of measuring total train body mass of claim 7, wherein the on-board computer determines whether the power wheels of the locomotive are spinning by:
if av,t-atIf the | is less than or equal to delta a, judging that the power wheel does not idle;
wherein, av,t＝f·(vt-vt-1)；vtFor the current moment of speed value, v, measured by the speed sensort-1For the previous moment of speed value measured by the speed sensor, atF is the frequency of the speed sensor sending the collected speed value to the vehicle-mounted computer, and delta a is an idle slip judgment factor.
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| CN115826480A (en) * | 2023-02-20 | 2023-03-21 | 山东兴盛矿业有限责任公司 | Mining is with long-range bidirectional control system |
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Application publication date: 20200403 |