城市轨道交通列车自动防护系统建模与仿真实现
摘要
近年来,随着我国城市建设的需要,建设城市轨道交通系统成为解决城市交通的主要手段,而我国城市轨道交通信号领域的技术与国外先进技术差距较大,限制了城市轨道交通的发展。信号系统是保证城市轨道交通行车安全和提高运输效率的关键设备。随着时代的发展,客流密度不断地增加,行车密度不断地增大,传统的信号系统也越来越不能适应城市轨道交通高速度、高密度和高安全性的行车要求。
列车自动防护系统(ATP:Automatic Train Protection)是保障城市轨道交通安全、高效运营的关键系统,是高速列车主要的一种控制策略。列车自动防护系统主要对列车驾驶进行防护,对安全有关的设备或系统实行监控,实现超速防护、列车间隔控制等功能。在列车运行控制系统的设计阶段,如果没有行之有效的设计手段和仿真环境,系统中各个核心模块设计完成后,都需要到现场进行多次重复的实验,从而导致时间和经济上的大量浪费。加之ATP系统本身复杂程度高、研发难度大,正是在这种情况下,提出对城市轨道交通ATP系统进行建模与仿真实现。
本论文主要是对城市轨道交通列车自动防护系统的研究,提出一种建立ATP防护模型的可行的方法和思路,并且提供相应的仿真环境。本文中,首先介绍了论文研究背景及内容,之后探讨了有关ATP系统的理论,通过对仿真建模方法的研究,阐述了车载设备速度控制曲线的计算方法,提出了一种基于预测控制和模糊控制的ATP速度防护控制算法,最终借助LabVIEW这种成熟的技术工具,进行了仿真分析,对所建立的模型进行仿真实现,验证了算法的可行性,并且在文中最后进行了研究工作总结并做出了下一步工作的展望。
In recent years,to meet the needs of urban construction in China,the cities of big and middle scale all regard the construction of rail traffic as the main way to solve the main means of urban transportation,but technologies in the field of signals of rail traffic in our country are lagged behind the developed countries which is limiting the development of urban rail transit.Signals system is a key equipment to ensure that urban rail transit traffic safety and improve the transport efficiency.With time going on, constantly increasing traffic density,road density increases continuously,the traditional signal system can not adapt to urban mass transit with high speed,density and safety more and more.
The Automatic Train Protection system(ATP) is a key system for ensuring the safety and high-efficiency of the urban rail transit,and it is the main control strategy of high speed train.The Automatic Train Protection system mainly implements train over speed protection,on the security-related surveillance equipment or system to achieve protective speeding train interval control,etc.If there is no effective means of design and simulation environment in the design stage of the Automatic Train Protection system,core modules in each system design completed will need to repeat the scene for the experiment.The result is waste both in a large number of economic and time.The ATP system is high complexity of the system itself,research and development is difficult,in this case,the paper propose modeling and simulation for Automatic Train Protection system.
This paper is mainly for Automatic Train Protection system.It is trying to provide a doable method for the ATP systems,and provide the appropriate simulation environment.First of all,the paper introduced the background and content of the research.After that,it explored the theory of the Automatic Train Protection system,and then analyses the control methods and characteristic of the present ATP system.Through researching simulation modeling methods,a caculation method of speed control curve of car-carried equipment had been described in the paper.And an ATP control method based on predictive control and fuzzy control was presented and simulated based on LabVIEW which is a mature technology tools.Finally,a simulation analysis had been done to verify the feasibility of the ATP Model and the simulation algorithm,the analysis proved the feasibility of the ATP method.At the end of the paper,a summary of the work and a plan for the further work had been given.
列车自动防护系统(ATP:Automatic Train Protection)是保障城市轨道交通安全、高效运营的关键系统,是高速列车主要的一种控制策略。列车自动防护系统主要对列车驾驶进行防护,对安全有关的设备或系统实行监控,实现超速防护、列车间隔控制等功能。在列车运行控制系统的设计阶段,如果没有行之有效的设计手段和仿真环境,系统中各个核心模块设计完成后,都需要到现场进行多次重复的实验,从而导致时间和经济上的大量浪费。加之ATP系统本身复杂程度高、研发难度大,正是在这种情况下,提出对城市轨道交通ATP系统进行建模与仿真实现。
本论文主要是对城市轨道交通列车自动防护系统的研究,提出一种建立ATP防护模型的可行的方法和思路,并且提供相应的仿真环境。本文中,首先介绍了论文研究背景及内容,之后探讨了有关ATP系统的理论,通过对仿真建模方法的研究,阐述了车载设备速度控制曲线的计算方法,提出了一种基于预测控制和模糊控制的ATP速度防护控制算法,最终借助LabVIEW这种成熟的技术工具,进行了仿真分析,对所建立的模型进行仿真实现,验证了算法的可行性,并且在文中最后进行了研究工作总结并做出了下一步工作的展望。
In recent years,to meet the needs of urban construction in China,the cities of big and middle scale all regard the construction of rail traffic as the main way to solve the main means of urban transportation,but technologies in the field of signals of rail traffic in our country are lagged behind the developed countries which is limiting the development of urban rail transit.Signals system is a key equipment to ensure that urban rail transit traffic safety and improve the transport efficiency.With time going on, constantly increasing traffic density,road density increases continuously,the traditional signal system can not adapt to urban mass transit with high speed,density and safety more and more.
The Automatic Train Protection system(ATP) is a key system for ensuring the safety and high-efficiency of the urban rail transit,and it is the main control strategy of high speed train.The Automatic Train Protection system mainly implements train over speed protection,on the security-related surveillance equipment or system to achieve protective speeding train interval control,etc.If there is no effective means of design and simulation environment in the design stage of the Automatic Train Protection system,core modules in each system design completed will need to repeat the scene for the experiment.The result is waste both in a large number of economic and time.The ATP system is high complexity of the system itself,research and development is difficult,in this case,the paper propose modeling and simulation for Automatic Train Protection system.
This paper is mainly for Automatic Train Protection system.It is trying to provide a doable method for the ATP systems,and provide the appropriate simulation environment.First of all,the paper introduced the background and content of the research.After that,it explored the theory of the Automatic Train Protection system,and then analyses the control methods and characteristic of the present ATP system.Through researching simulation modeling methods,a caculation method of speed control curve of car-carried equipment had been described in the paper.And an ATP control method based on predictive control and fuzzy control was presented and simulated based on LabVIEW which is a mature technology tools.Finally,a simulation analysis had been done to verify the feasibility of the ATP Model and the simulation algorithm,the analysis proved the feasibility of the ATP method.At the end of the paper,a summary of the work and a plan for the further work had been given.
引文
[1]孙娟,宁建国.城市轨道交通列车自动监控系统可视化仿真方法.计算机仿真.2004.21(5).145-148
[2]周翊民.中国城市轨道交通的发展策略.铁道运输与经济.2002.11
[3]蔡铭军.列车的自动防护和自动驾驶技术.测控技术与设备.2000.8.30-33
[4]宋芹,陈凯,崔淑妮,解学书.城市轨道交通国产ATP车载设备超速防护功能的仿真实现.中国铁道科学.2002.22(3).48-52
[5]赵会兵,赵明.城市轨道交通ATP仿真系统的初步研究.北方交通大学学报.2000.24(5).39-43
[6]郭彤城,慕春棣.ATP铁路运行仿真系统的设计与实现.系统仿真学报.1998.11(4).293-297
[7]刘海东,毛保华,何天健,丁勇,王璇.不同闭塞方式下城轨列车追踪运行过程及其仿真系统的研究.铁道学报.2004.27(2).120-125
[8]许吉林.基于嵌入式的列车自动防护车载子系统的设计与模拟实现[D].西南交通大学研究生学位论文.2007
[9]彭其渊、石红国等.城市轨道交通列车牵引计算[M].成都:西南交通大学出版社,2005年
[10]中华人民共和国铁道部.列车牵引计算规程[M].北京:中国铁道出版社,1999年
[11]王子才.仿真技术发展及应用.中国工程科学.2003.5(2).40-44
[12]余进.钱清泉.何正友.两级模糊神经网络在高速列车ATO系统中的应用研究.铁道学报.2008.30(5).52-56
[13]李波.王自力.遗传算法在列车优化操纵曲线方面的应用.内燃机车.2008.3.5-11
[14]管再保.王长林.王涛.模糊控制在列车停靠站制动系统中的应用.铁路计算机应用.2006.15(7).45-47
[15]谢联峻.宁滨.模糊控制在列车自动驾驶中的应用.自动化与仪器仪表.1999.4.22-24
[16]孙晓炜.陈永生.预测控制在ATO仿真系统中的应用.城市轨道交通研究.2001.4.44-46
[17]承向军,杜鹏,张春悦,孟令云.ATP控车模式的DC模型与可靠性分析.铁道通信信号.2008.44(1).39-41
[18]邓华峰.便于司机驾驶的ATP推荐速度曲线.通铁道信信号.2003.39(10).14-15
[19]何祖涛.城轨列车超速防护系统(ATP)车载设备设计原理及实现.通铁道信信号.2005.41.19-21
[20]时鑫,田洪现,陆伟.高速列车信号安全防护系统(ATP)人机工程的研究.铁道机车车辆.2003.19(1).42-46
[21]赵波波,唐涛.基于UML的城市轨道交通列车超速防护系统建模.都市快轨交通.2006.19(6).82-85
[22]桂伟力,慕春棣.基于分布式仿真的ATP自动测试系统的分析与设计.计算机工程与应用.2001.8.104-107
[23]常成华,贾利民,张锡第.基于模糊逻辑控制的ATP系统研究.中国铁道科学.1996.17(4).110-116
[24]李玉生,侯忠生.基于遗传算法的列车节能控制研究.系统仿真学报.2007.19(2).384-387
[25]朱小鸥,冯晓云.基于预测控制的ATP算法研究电力机车与城轨车辆.2005.28(1).29-31
[26]沈钢,周劲松,任利惠.列车动力学模型的研究.铁道机车车辆.2004.24.1-5
[27]刘铭,列车自动防护系统(ATP)技术.上海铁道科技.2003.3.20,27
[28]宋红霞,王玉松,王利锋,况长虹.列车自动防护系统安全计算机可靠性与安全性分析.工业控制计算机.2008.21(1).13-15
[29]刘海东,毛保华,丁勇,何天.列车自动驾驶仿真系统算法及其实施研究.系统仿真学报.2005.17(3).577-581
[30]王长林,肖鹏,康太平.列控系统安全防护技术模型及研究.交通运输工程与信息学报.2005.3(1).36-40
[31]李宏伟,刘晓娟.移动自动闭塞系统分析及应用.重庆工学院学报(自然科学).2007.21(12).157-160
[32]鲁建厦.方荣.兰秀菊.国内仿真技术的研究热点——系统仿真学报近期论文综述.系统仿真学报.2004.16(9).1910-1913
[33]孙晓炜.陈永生.基于模糊预测控制策略的ATO仿真.计算机工程与应用.2002.05.214-217
[34]石红国.郭寒英.列车运行仿真模型的多目标改进遗传算法.铁道运输与经济.2008.4(30).79-82
[35]余卓民.数字仿真技术在模拟列车牵引操纵中的应用.内燃机车.2003.8.14-19
[36]赵志远.磁浮列车ATP系统研究[D].国防科技大学研究生学位论文.2004
[37]闫志鹏.地铁列车仿真系统研究[D].北京交通大学学位论文.2006
[38]燕飞.轨道交通列车运行控制系统的形式化建模和模型检验方法研究[D].北京交通大学博士学位论文.2006
[39]任淑艳.基于嵌入式系统的列车自动防护控制中心的开发[D].哈尔滨理工大学工学硕士学位论文.2004
[40]Kuwabara,M.Chikamatsu,H.INTEGRATED TRAFFIC CONTROL SYSTEM AND AUTOMATIC TRAIN OPERATION SYSTEM FOR WATERFRONT LINE.Mass Transit Systems.1998.5.62-67
[41]Westinghouse Signals Ltd,UK.AN ADVANCED SIMULATOR APPLIED TO CONTROL CENTRE TESTING AND OPERATOR TRAINING.Mass Transit Systems.1998.5.155-160
[42]Seong-Ho Han,Su-Gil Lee,Won-Kyong Kim.DEVELOPMENT OF ONBOARD TRAIN AUTOMATIC CONTROL SYSTEM FOR KOREAN STANDARD EMU.Industrial Electronics,2001.6.1257-1259
[43]Turley,P.;Wright,M.Engine test software in LabVIEW.AUTOTESTCON.1997.575-579
[44]Bwo-Ren Ke,Nanming Chen.Strategy of train operation under maximum train capacity in mass rapid transit systems.Rail Conference.2005.165-170
[45]Banerjee M K,E1 Hoda N.Review of the automatic train control system for Cairo Metro line 2.Power Engineering Journal.1998.217-228
[2]周翊民.中国城市轨道交通的发展策略.铁道运输与经济.2002.11
[3]蔡铭军.列车的自动防护和自动驾驶技术.测控技术与设备.2000.8.30-33
[4]宋芹,陈凯,崔淑妮,解学书.城市轨道交通国产ATP车载设备超速防护功能的仿真实现.中国铁道科学.2002.22(3).48-52
[5]赵会兵,赵明.城市轨道交通ATP仿真系统的初步研究.北方交通大学学报.2000.24(5).39-43
[6]郭彤城,慕春棣.ATP铁路运行仿真系统的设计与实现.系统仿真学报.1998.11(4).293-297
[7]刘海东,毛保华,何天健,丁勇,王璇.不同闭塞方式下城轨列车追踪运行过程及其仿真系统的研究.铁道学报.2004.27(2).120-125
[8]许吉林.基于嵌入式的列车自动防护车载子系统的设计与模拟实现[D].西南交通大学研究生学位论文.2007
[9]彭其渊、石红国等.城市轨道交通列车牵引计算[M].成都:西南交通大学出版社,2005年
[10]中华人民共和国铁道部.列车牵引计算规程[M].北京:中国铁道出版社,1999年
[11]王子才.仿真技术发展及应用.中国工程科学.2003.5(2).40-44
[12]余进.钱清泉.何正友.两级模糊神经网络在高速列车ATO系统中的应用研究.铁道学报.2008.30(5).52-56
[13]李波.王自力.遗传算法在列车优化操纵曲线方面的应用.内燃机车.2008.3.5-11
[14]管再保.王长林.王涛.模糊控制在列车停靠站制动系统中的应用.铁路计算机应用.2006.15(7).45-47
[15]谢联峻.宁滨.模糊控制在列车自动驾驶中的应用.自动化与仪器仪表.1999.4.22-24
[16]孙晓炜.陈永生.预测控制在ATO仿真系统中的应用.城市轨道交通研究.2001.4.44-46
[17]承向军,杜鹏,张春悦,孟令云.ATP控车模式的DC模型与可靠性分析.铁道通信信号.2008.44(1).39-41
[18]邓华峰.便于司机驾驶的ATP推荐速度曲线.通铁道信信号.2003.39(10).14-15
[19]何祖涛.城轨列车超速防护系统(ATP)车载设备设计原理及实现.通铁道信信号.2005.41.19-21
[20]时鑫,田洪现,陆伟.高速列车信号安全防护系统(ATP)人机工程的研究.铁道机车车辆.2003.19(1).42-46
[21]赵波波,唐涛.基于UML的城市轨道交通列车超速防护系统建模.都市快轨交通.2006.19(6).82-85
[22]桂伟力,慕春棣.基于分布式仿真的ATP自动测试系统的分析与设计.计算机工程与应用.2001.8.104-107
[23]常成华,贾利民,张锡第.基于模糊逻辑控制的ATP系统研究.中国铁道科学.1996.17(4).110-116
[24]李玉生,侯忠生.基于遗传算法的列车节能控制研究.系统仿真学报.2007.19(2).384-387
[25]朱小鸥,冯晓云.基于预测控制的ATP算法研究电力机车与城轨车辆.2005.28(1).29-31
[26]沈钢,周劲松,任利惠.列车动力学模型的研究.铁道机车车辆.2004.24.1-5
[27]刘铭,列车自动防护系统(ATP)技术.上海铁道科技.2003.3.20,27
[28]宋红霞,王玉松,王利锋,况长虹.列车自动防护系统安全计算机可靠性与安全性分析.工业控制计算机.2008.21(1).13-15
[29]刘海东,毛保华,丁勇,何天.列车自动驾驶仿真系统算法及其实施研究.系统仿真学报.2005.17(3).577-581
[30]王长林,肖鹏,康太平.列控系统安全防护技术模型及研究.交通运输工程与信息学报.2005.3(1).36-40
[31]李宏伟,刘晓娟.移动自动闭塞系统分析及应用.重庆工学院学报(自然科学).2007.21(12).157-160
[32]鲁建厦.方荣.兰秀菊.国内仿真技术的研究热点——系统仿真学报近期论文综述.系统仿真学报.2004.16(9).1910-1913
[33]孙晓炜.陈永生.基于模糊预测控制策略的ATO仿真.计算机工程与应用.2002.05.214-217
[34]石红国.郭寒英.列车运行仿真模型的多目标改进遗传算法.铁道运输与经济.2008.4(30).79-82
[35]余卓民.数字仿真技术在模拟列车牵引操纵中的应用.内燃机车.2003.8.14-19
[36]赵志远.磁浮列车ATP系统研究[D].国防科技大学研究生学位论文.2004
[37]闫志鹏.地铁列车仿真系统研究[D].北京交通大学学位论文.2006
[38]燕飞.轨道交通列车运行控制系统的形式化建模和模型检验方法研究[D].北京交通大学博士学位论文.2006
[39]任淑艳.基于嵌入式系统的列车自动防护控制中心的开发[D].哈尔滨理工大学工学硕士学位论文.2004
[40]Kuwabara,M.Chikamatsu,H.INTEGRATED TRAFFIC CONTROL SYSTEM AND AUTOMATIC TRAIN OPERATION SYSTEM FOR WATERFRONT LINE.Mass Transit Systems.1998.5.62-67
[41]Westinghouse Signals Ltd,UK.AN ADVANCED SIMULATOR APPLIED TO CONTROL CENTRE TESTING AND OPERATOR TRAINING.Mass Transit Systems.1998.5.155-160
[42]Seong-Ho Han,Su-Gil Lee,Won-Kyong Kim.DEVELOPMENT OF ONBOARD TRAIN AUTOMATIC CONTROL SYSTEM FOR KOREAN STANDARD EMU.Industrial Electronics,2001.6.1257-1259
[43]Turley,P.;Wright,M.Engine test software in LabVIEW.AUTOTESTCON.1997.575-579
[44]Bwo-Ren Ke,Nanming Chen.Strategy of train operation under maximum train capacity in mass rapid transit systems.Rail Conference.2005.165-170
[45]Banerjee M K,E1 Hoda N.Review of the automatic train control system for Cairo Metro line 2.Power Engineering Journal.1998.217-228
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