摘要
[目的]城市轨道交通系统中,列车测速定位技术可为列车自动驾驶、避撞、调度指挥等众多应用提供信息支撑。目前列车控制系统结构功能日趋复杂,随着城市轨道交通运营效率、服务等级的持续提升,对列车测速定位的性能要求越来越高,需进一步提升ATP(列车自动防护)系统在不同场景下的测速定位能力。[方法]提出了基于轮轴蠕滑率检测的列车测速方法,首先介绍了列车测速定位系统的结构,阐述了基于轮轴蠕滑率的列车测速技术流程。然后对轮轴蠕滑理论进行了阐述,对多普勒雷达的测速误差进行建模,得到雷达最大参考速度,以此为基准计算轮轴的蠕滑率,针对不同的蠕滑率对里程计速度施加不同程度的补偿。最后利用现场试验数据,对所提的测速方法进行验证。[结果及结论]试验结果表明,列车制动阶段的大部分时间内轮轴均处于小蠕滑状态,对里程计速度施加较小补偿后的列车最大速度低于既有ATP计算的最大速度。在列车最小速度不变的情况下,该方法在保证安全的前提下,显著提高了列车运行速度的测量精度。
[Objective]In urban rail transit systems,train velocity measuring and positioning technology offers critical information to many applications such as train autonomous driving,collision avoidance,dispatching and directing.The architecture and function of the train control systems are increasingly complex,and the continuous level-up of the operation efficiency and the services requires higher performance for train velocity measuring and positioning,so that the ability of the ATP(automatic train protection)measuring velocity and positioning in different scenarios needs to be improved.[Method]A train velocity measurement approach based on wheel-axle creep rate detection is proposed.First,the architecture of the train velocity measurement and localization system is introduced and the technical process of train velocity measurement based on wheel-axle creep rate is explained.Then the wheel-axle creep theory is explained and the velocity measurement error of the Doppler radar sensor is modeled to obtain the radar maximum reference velocity,which is used to calculate the wheel-axle creep.Different compensation for the odometer velocity is applied based on different wheel-axle creep status.Finally,the velocity measurement approach proposed is verified using the experimental data sets.[Result&Conclusion]The experimental results show that most of the time the wheel-axle is in a low creep state during the train braking stage.The velocity obtained by less compensation for the odometer velocity is much lower than the maximum velocity calculated by the existing ATP.This approach remarkably improves the velocity measurement accuracy under the premise of safety when the train minimal velocity is identical.
作者
赵旻杰
郭子明
沈喆
吕新军
方兴
ZHAO Minjie;GUO Ziming;SHEN Zhe;LYU Xinjun;FANG Xing(Shanghai Shentong Metro Group Co.,Ltd.,200232,Shanghai,China;CASCO Signal Co.,Ltd.,200072,Shanghai,China)
出处
《城市轨道交通研究》
北大核心
2024年第4期220-224,共5页
Urban Mass Transit
关键词
城市轨道交通
列车自动防护
列车测速
里程计
多普勒雷达
轮轴蠕滑检测
urban rail transit
automatic train protection
train velocity measurement
odometer
Doppler radar
wheel-axle creep detection
