Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present inventionIn attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment isA part of the embodiment of the present invention, instead of all the embodiments.Every other reality obtained based on the embodiments of the present inventionExample is applied, shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram for the train speed control system that one embodiment of the invention provides, and Fig. 2 is the present invention oneThe flow diagram for the train speed control method that embodiment provides, as shown in Figure 1 to Figure 2, which comprises
Step 101 receives the first impulse speed signal and rail cable survey that Doppler radar speed measuring module is sent respectivelyThe second impulse speed signal that fast module is sent.
As shown in Figure 1, train speed control system provided by the invention includes Doppler range rate measurement module 11, rail cableSpeed measuring module 12, train motion control unit 13 (Drive Control Unit, abbreviation DCU), train network control system 14Velocity mode switch 15 is arranged in (Train Control and Management System, abbreviation TCMS) and vehicle.ItsIn, there are three train motion control units 13, train motion control unit 13 to use principal and subordinate's mould for setting on medium-and low-speed maglev trainFormula has the functions such as information exchange, logic judgment.Specifically, Doppler range rate measurement module 11, rail cable speed measuring module 12 divideIt is not communicated to connect with train motion control unit 13, the impulse speed signal for obtaining measurement is sent to train transmission controlUnit 13 processed, the train motion control unit 13 and train network control system 14 communicate to connect, and are used for and networked control system of the trainSystem 14 carries out information exchange, to realize the switching to train speed mode.Velocity mode switch and train network is arranged in vehicleControl system 14 communicates to connect, and switches over for the velocity mode to train, and it includes three that velocity mode switch 15, which is arranged, in vehicleA mode: A/B/O, wherein A modeling rail cable compulsory mode, B-mode characterize Doppler radar compulsory mode, O mouldFormula characterizes the autonomous selection mode of train motion control unit.
Specifically, the executing subject of the present embodiment is train motion control unit.Doppler range rate measurement module and rail cableThe speed current to train measures speed measuring module respectively, two kinds of mutual redundancies of speed signal, and in real time obtain measurementPulse signal is sent to train motion control unit.Correspondingly, train motion control unit can receive Doppler radar and test the speedThe second impulse speed signal that the first impulse speed signal and rail cable speed measuring module that module is sent are sent.
Step 102, judge the first impulse speed signal and the second impulse speed signal difference whether greatly withPreset threshold speed.
In the present embodiment, same train is worked as respectively with rail cable speed measuring module due to Doppler range rate measurement modulePreceding speed measures, theoretically for, the speed that the measurement of two speed measuring modules obtains should be less than preset threshold value, ifTwo test module measurement results are more than preset threshold value, then can be determined that current train has the abnormal situation of traveling, becauseThis, train motion control unit receives the first impulse speed signal that Doppler radar speed measuring module is sent and rail cable is surveyedAfter the second impulse speed signal that fast module is sent, it can be determined that the first impulse speed signal and the second impulse speed signalDifference whether greatly with preset threshold speed.
Step 103 switches over if so, being presently in the mode velocity mode current to the train according to train.
In the present embodiment, if two test module measurement results are more than preset threshold value, it can be determined that and work as forefrontVehicle has the abnormal situation of traveling, therefore, in order to guarantee that train operates normally, it is also necessary to the velocity mode current to train intoRow switching.It specifically, therefore, can be according to the form state that train is presently in working as there are many train current running statesPreceding velocity mode switches over.
Train speed control method provided in this embodiment, by receiving the transmission of Doppler radar speed measuring module respectivelyThe second impulse speed signal that first impulse speed signal and rail cable speed measuring module are sent；Judge the first pulse speedSpend signal and the second impulse speed signal difference whether greatly with preset threshold speed；If so, current according to trainThe locating mode velocity mode current to the train switches over.So as to improve the accuracy of speed signal, and energyEnough improve the safety of towing vehicle control.
Further, based on any of the above embodiments, the Doppler radar speed measuring module includes being respectively setIn two Doppler range rate measurement units of the train two ends vehicle, the rail cable speed measuring module includes being separately positioned on instituteTwo rail cables for stating train two ends vehicle test the speed unit；
Correspondingly, which comprises
Two-way the first impulse speed signal that Doppler radar speed measuring module is sent is received respectively and rail cable tests the speed mouldTwo-way the second impulse speed signal that block is sent；
Judge the average value of the first impulse speed of two-way signal and being averaged for two-way the second impulse speed signalWhether the difference between value is greater than preset threshold value；
It is switched over if so, being presently in the mode velocity mode current to the train according to train.
In the present embodiment, in order to guarantee that velocity measurement is more accurate, the mould as shown in figure 3, Doppler radar tests the speedIt may include that two Doppler radars test the speed unit in block, be separately positioned on train two ends vehicle, for two ends vehicleSpeed measures, and correspondingly, rail cable speed measuring module also includes that two rail cables test the speed unit, is separately positioned on columnOn vehicle two ends vehicle, measured for the speed to two ends vehicle.Specifically, train motion control unit can connect respectivelyReceive two-way the first impulse speed signal that Doppler radar speed measuring module is sent and the two-way that rail cable speed measuring module is sentTwo impulse speed signals, and judge the average value of two-way the first impulse speed signal and putting down for the second impulse speed of two-way signalWhether the difference between mean value is greater than preset threshold value, if more than then can be according to the form mode that train is presently in columnThe current velocity mode of vehicle switches over.
Train speed control method provided in this embodiment includes being separately positioned on institute by general Le radar velocity measurement moduleTwo Doppler range rate measurement units of train two ends vehicle are stated, the rail cable speed measuring module includes being separately positioned on the columnTwo rail cables of vehicle two ends vehicle test the speed unit, so as to further improve acquisition speed signal precision,It provides the foundation to improve the safety of towing vehicle control.
Further, based on any of the above embodiments, which comprises
The the first impulse speed signal and rail cable speed measuring module hair that Doppler radar speed measuring module is sent are received respectivelyThe the second impulse speed signal sent；
Judge the difference of the first impulse speed signal and the second impulse speed signal whether greatly with preset theOne threshold speed；
If so, fault-signal is sent to train network control module if the train is currently at network mode, withIt analyzes the networked control system of the train module to current train velocity information according to the fault-signal, and controls tractionInverter is out of service；
Receive and execute the control instruction of the networked control system of the train module feedback.
In the present embodiment, receive Doppler radar speed measuring module transmission the first impulse speed signal and rail between electricityAfter the second impulse speed signal that cable speed measuring module is sent, it can be determined that the first impulse speed signal and the second impulse speedWhether the difference of signal is greatly with preset First Speed threshold value, and specifically, First Speed threshold value can be 5km/h.Correspondingly,If more than form mode locating for current train then being judged, if train is in network model, it can be determined that train current drivingIt goes wrong, therefore fault-signal can be sent to train network control module, wherein may include current in fault-signalThe velocity information that the unit that respectively tests the speed measures, so that networked control system of the train module is according to fault-signal to current train velocity informationIt is analyzed, correspondingly, it is also necessary to it is out of service to control traction invertor.Networked control system of the train module is according to fault-signal pairAfter current train velocity information is analyzed, control instruction can be issued to train motion control unit according to analysis instruction,Therefore, train motion control unit can receive the control instruction, and execute operation corresponding with the control instruction.
Train speed control method provided in this embodiment, by judging the first impulse speed signal and second arteries and veinsRush speed signal difference whether greatly with preset First Speed threshold value, and be greater than when to train network control module sendFault-signal, and execute and sent out after networked control system of the train module analyzes current train velocity information according to fault-signalControl instruction out, so as to improve the safety of towing vehicle control.
Further, based on any of the above embodiments, which comprises
The the first impulse speed signal and rail cable speed measuring module hair that Doppler radar speed measuring module is sent are received respectivelyThe the second impulse speed signal sent；
Judge the difference of the first impulse speed signal and the second impulse speed signal whether greatly with preset theOne threshold speed；
If so, determining the first impulse speed signal and described second if the train is currently at contingency modeAbnormal speed signal in impulse speed signal；
Remove the abnormal speed signal, and using except after the abnormal speed signal the first impulse speed signal withThe average value of the second impulse speed signal realizes the control to the train.
In the present embodiment, receive Doppler radar speed measuring module transmission the first impulse speed signal and rail between electricityAfter the second impulse speed signal that cable speed measuring module is sent, it can be determined that the first impulse speed signal and the second impulse speedWhether the difference of signal is greatly with preset First Speed threshold value, and specifically, First Speed threshold value can be 5km/h.Correspondingly,If more than then judging form mode locating for current train, if train is in contingency mode, can determine Doppler radarIt is different in the second impulse speed signal that the first impulse speed signal that speed measuring module is sent is sent with rail cable speed measuring moduleRegular signal will affect biggish abnormal signal removal, be realized by the average value of other a few road normal speed signals to the columnThe control of vehicle.
Train speed control method provided in this embodiment, by judging the first impulse speed signal and second arteries and veinsThe difference of speed signal is rushed whether greatly with preset First Speed threshold value, and it is determining when being greater than and remove present speed signalIn abnormal signal, the control to the train is realized by the average value of other a few road normal speed signals so as to mentionThe safety of high towing vehicle control.
Further, based on any of the above embodiments, which comprises
The the first impulse speed signal and rail cable speed measuring module hair that Doppler radar speed measuring module is sent are received respectivelyThe the second impulse speed signal sent；
Judge the difference of the first impulse speed signal and the second impulse speed signal whether greatly with preset theTwo threshold speeds；
If so, if the train is currently at network mode, to the networked control system of the train module transmission speed modeSwitching request, so that networked control system of the train module transmission is current to the train according to the velocity mode switching requestVelocity information analyzed, and it is out of service to control traction invertor；
Receive the velocity mode switching command of the networked control system of the train module feedback；
Switch the velocity mode of the train according to the velocity mode, and restarts the traction invertor.
In the present embodiment, receive Doppler radar speed measuring module transmission the first impulse speed signal and rail between electricityAfter the second impulse speed signal that cable speed measuring module is sent, it can be determined that the first impulse speed signal and the second impulse speedWhether the difference of signal is greatly with preset second speed threshold value, and specifically, second speed threshold value can be 3km/h.Correspondingly,If more than, then judge form mode locating for current train, it, can be according to current multichannel if train is in network modeSpeed signal is to train network control module transmission speed mode switch request, so that networked control system of the train module is to currentVelocity information is analyzed, and the velocity mode for controlling train based on the analysis results switches over.It is led in addition it is also necessary to controlDraw inverter closing.After networked control system of the train module analyzes multichannel speed signal, it can be switched with velocity mode and be referred toIt enables, correspondingly, train motion control unit can receive the velocity mode switching command of networked control system of the train module feedback；RootAccording to the velocity mode of velocity mode switching train, and restart traction invertor.
Train speed control method provided in this embodiment, by judging the first impulse speed signal and second arteries and veinsRush speed signal difference whether greatly with preset second speed threshold value, and be greater than when to train network control module sendVelocity mode switching request, and it is current to train according to the realization of the velocity mode switching command of networked control system of the train module feedbackVelocity mode switching, so as to improve acquisition speed signal precision, for improve towing vehicle control safetyProperty provides the foundation.
Further, based on any of the above embodiments, which comprises
The the first impulse speed signal and rail cable speed measuring module hair that Doppler radar speed measuring module is sent are received respectivelyThe the second impulse speed signal sent；
Judge the difference of the first impulse speed signal and the second impulse speed signal whether greatly with preset theTwo threshold speeds；
If so, if the train is currently at contingency mode, it is out of service to control the traction invertor, according to pre-If velocity mode switching law switch the velocity mode of the train, and restart the traction invertor.
In the present embodiment, receive Doppler radar speed measuring module transmission the first impulse speed signal and rail between electricityAfter the second impulse speed signal that cable speed measuring module is sent, it can be determined that the first impulse speed signal and the second impulse speedWhether the difference of signal is greatly with preset second speed threshold value, and specifically, second speed threshold value can be 3km/h.Correspondingly,If more than then judging form mode locating for current train, if train is in contingency mode, can control traction invertorIt is out of service, and according to the velocity mode of preset velocity mode switching law switching train, and restart traction inversionDevice.
Train speed control method provided in this embodiment, by judging the first impulse speed signal and second arteries and veinsThe difference of speed signal is rushed whether greatly with preset second speed threshold value, and the traction invertor is controlled when being greater than and stopsOperation, switches the velocity mode of the train according to preset velocity mode switching law, and restart the traction inversionDevice.So as to improve acquisition speed signal precision, for improve towing vehicle control safety provide the foundation.
Fig. 3 is the structural schematic diagram for the train speed control system that further embodiment of this invention provides, as shown in figure 3, instituteThe system of stating includes:
Signal receiving module 31, for receiving the first impulse speed signal of Doppler radar speed measuring module transmission respectivelyThe the second impulse speed signal sent with rail cable speed measuring module.
Judgment module 32, for judging the difference of the first impulse speed signal Yu the second impulse speed signalWhether greatly with preset threshold speed.
Switching module 33, for if so, according to train be presently in the mode velocity mode current to the train intoRow switching.
Train speed control system provided in this embodiment, by receiving the transmission of Doppler radar speed measuring module respectivelyThe second impulse speed signal that first impulse speed signal and rail cable speed measuring module are sent；Judge the first pulse speedSpend signal and the second impulse speed signal difference whether greatly with preset threshold speed；If so, current according to trainThe locating mode velocity mode current to the train switches over.So as to improve the accuracy of speed signal, and energyEnough improve the safety of towing vehicle control.
Further, based on any of the above embodiments, the Doppler radar speed measuring module includes being respectively setIn two Doppler range rate measurement units of the train two ends vehicle, the rail cable speed measuring module includes being separately positioned on instituteTwo rail cables for stating train two ends vehicle test the speed unit；
Correspondingly, the system comprises:
The signal receiving module includes:
Speed signal receiving unit, for receiving two-way the first pulse speed of Doppler radar speed measuring module transmission respectivelySpend two-way the second impulse speed signal that signal and rail cable speed measuring module are sent；
The judgment module includes:
Dif ference judgment unit, for judging the average value and the two-way second of the first impulse speed of two-way signalWhether the difference between the average value of impulse speed signal is greater than preset threshold value；
Switching module, for being carried out if so, being presently in the mode velocity mode current to the train according to trainSwitching.
Train speed control system provided in this embodiment includes being separately positioned on institute by general Le radar velocity measurement moduleTwo Doppler range rate measurement units of train two ends vehicle are stated, the rail cable speed measuring module includes being separately positioned on the columnTwo rail cables of vehicle two ends vehicle test the speed unit, so as to further improve acquisition speed signal precision,It provides the foundation to improve the safety of towing vehicle control.
Further, based on any of the above embodiments, the system comprises:
Signal receiving module, for receive respectively Doppler radar speed measuring module transmission the first impulse speed signal withThe second impulse speed signal that rail cable speed measuring module is sent；
Judgment module specifically includes:
First judging unit, for judging the difference of the first impulse speed signal Yu the second impulse speed signalValue whether greatly with preset First Speed threshold value；
Switching module specifically includes:
First mode judging unit, for if so, if the train is currently at network mode, to train network controlMolding block sends fault-signal, so that the networked control system of the train module believes current train speed according to the fault-signalBreath is analyzed, and it is out of service to control traction invertor；
First execution unit, for receiving and executing the control instruction of the networked control system of the train module feedback.
Train speed control system provided in this embodiment, by judging the first impulse speed signal and second arteries and veinsRush speed signal difference whether greatly with preset First Speed threshold value, and be greater than when to train network control module sendFault-signal, and execute and sent out after networked control system of the train module analyzes current train velocity information according to fault-signalControl instruction out, so as to improve the safety of towing vehicle control.
Further, based on any of the above embodiments, which comprises
Signal receiving module, for receive respectively Doppler radar speed measuring module transmission the first impulse speed signal withThe second impulse speed signal that rail cable speed measuring module is sent；
Judgment module specifically includes:
First judging unit, for judging the difference of the first impulse speed signal Yu the second impulse speed signalValue whether greatly with preset First Speed threshold value；
Switching module specifically includes:
Second mode judging unit, for if so, determining described first if the train is currently at contingency modeAbnormal speed signal in impulse speed signal and the second impulse speed signal；
Second execution unit, for removing the abnormal speed signal, and using except the after the abnormal speed signalThe average value of one impulse speed signal and the second impulse speed signal realizes the control to the train.
Train speed control system provided in this embodiment, by judging the first impulse speed signal and second arteries and veinsThe difference of speed signal is rushed whether greatly with preset First Speed threshold value, and it is determining when being greater than and remove present speed signalIn abnormal signal, the control to the train is realized by the average value of other a few road normal speed signals so as to mentionThe safety of high towing vehicle control.
Further, based on any of the above embodiments, the system comprises:
Signal receiving module, for receive respectively Doppler radar speed measuring module transmission the first impulse speed signal withThe second impulse speed signal that rail cable speed measuring module is sent；
Judgment module specifically includes:
Second judgment unit, for judging the difference of the first impulse speed signal Yu the second impulse speed signalValue whether greatly with preset second speed threshold value；
Switching module specifically includes:
The third mode judging unit, for if so, if the train is currently at network mode, to the train netNetwork control module transmission speed mode switch request, so that the networked control system of the train module is sent according to the velocity modeThe switching request velocity information current to the train is analyzed, and it is out of service to control traction invertor；
Instruction receiving unit, for receiving the velocity mode switching command of the networked control system of the train module feedback；
Third execution unit for switching the velocity mode of the train according to the velocity mode, and restarts instituteState traction invertor.
Train speed control system provided in this embodiment, by judging the first impulse speed signal and second arteries and veinsRush speed signal difference whether greatly with preset second speed threshold value, and be greater than when to train network control module sendVelocity mode switching request, and it is current to train according to the realization of the velocity mode switching command of networked control system of the train module feedbackVelocity mode switching, so as to improve acquisition speed signal precision, for improve towing vehicle control safetyProperty provides the foundation.
Further, based on any of the above embodiments, the system comprises:
Signal receiving module, for receive respectively Doppler radar speed measuring module transmission the first impulse speed signal withThe second impulse speed signal that rail cable speed measuring module is sent；
Judgment module specifically includes:
Second judgment unit, for judging the difference of the first impulse speed signal Yu the second impulse speed signalValue whether greatly with preset second speed threshold value；
Switching module specifically includes:
Fourth mode judging unit, for if so, controlling the traction if the train is currently at contingency modeInverter is out of service, switches the velocity mode of the train according to preset velocity mode switching law, and restart instituteState traction invertor.
Train speed control system provided in this embodiment, by judging the first impulse speed signal and second arteries and veinsThe difference of speed signal is rushed whether greatly with preset second speed threshold value, and the traction invertor is controlled when being greater than and stopsOperation, switches the velocity mode of the train according to preset velocity mode switching law, and restart the traction inversionDevice.So as to improve acquisition speed signal precision, for improve towing vehicle control safety provide the foundation.
Fig. 4 is the structural schematic diagram that the train speed that further embodiment of this invention provides controls equipment, as shown in figure 4, instituteStating equipment includes: memory 41, processor 42；
Memory 41；For storing the memory 41 of 42 executable instruction of processor；
Wherein, the processor 42 is configured as executing such as above-mentioned train speed control method by the processor 42.
Further embodiment of this invention provides a kind of computer readable storage medium, in the computer readable storage mediumComputer executed instructions are stored with, for realizing such as above-mentioned train speed when the computer executed instructions are executed by processorSpend control method.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing descriptionSpecific work process, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can be withIt is done through the relevant hardware of the program instructions.Program above-mentioned can be stored in a computer readable storage medium.It shouldWhen being executed, execution includes the steps that above-mentioned each method embodiment to program；And storage medium above-mentioned includes: ROM, RAM, magneticThe various media that can store program code such as dish or CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: itsIt is still possible to modify the technical solutions described in the foregoing embodiments, or special to some or all of technologiesSign is equivalently replaced；And these are modified or replaceed, various embodiments of the present invention that it does not separate the essence of the corresponding technical solutionThe range of technical solution.