CTCS3级列控车载ATP研究与仿真
摘要
我国高速铁路已进入了快速发展时期。为了确保高速列车的安全运行,迫切需要装备性能先进、安全、可靠、高效的列车运行控制系统。CTCS3级列控系统是基于无线通信实现列车车载设备与无线闭塞中心(RBC)的双向信息传输的列控系统,其中列车自动防护系统(ATP)是整个列控系统车载设备的核心,它的主要任务是对列车运行控制信息进行综合处理,生成目标—距离模式曲线,监控列车运行速度,实现列车的自动超速防护。
本文在剖析CTCS3级列控车载设备结构和功能的基础上,对基于通信的列车防护系统(ATP)关键算法和模型进行了深入研究。本文首先介绍了国内外列车控制系统的发展与现状,阐述了国内车载设备的发展现状。然后,在分析国内、外典型的ATP安全制动模型的基础上,分别对这两种安全制动模型进行了仿真计算,并对仿真结果进行了比较。针对列车出现空转、滑行时会对列车制动距离产生影响,本文讨论了车载ATP对空转、滑行两种列车特殊运行工况的检测方法,并对空转、滑行下测速、测距方法进行了研究,并在此基础上对之前建立的安全制动模型进行了相应的修正。
为了验证国内典型安全制动模型的可用性,本文分析了CTCS3级系统车载设备组成结构、功能、接口等需求,对车载ATP以及人机交互界面DMI进行了仿真,实现了包括：最具限制速度曲线合成、不同工作模式下速度防护曲线的计算、超速防护、工作模式切换等车载子系统主要功能。
Our country's high-speed railway has already been in the time of rapid development. In order to assure operation safety of high-speed railway, train operation control system that is advanced, safe, reliable and efficient is necessary. CTCS3 train control system is based on the wireless communication to implement the two-way information transmission between train-borne equipment and Radio Block Center (RBC), while ATP (Automatic Train Protection) is the core part of the whole train-borne equipment. ATP's main task is to process integratedly train operation's control information to generate distance to go model curve, monitor train speed and achieve ultimately the train's automatic over-speed protection.
Based on the analysis of the structure and function of CTCS3 train-borne equipment, this paper studies deeply in key algorithms and models of the ATP based on communication. Firstly, this paper describes the development and current status of domestic and international train control system and elaborates the development and current status of domestic train-borne equipment. Then on the basis of analyzing domestic and foreign typical ATP safe braking model, the two models are simulated respectively and the simulation results are compared. Against the affect of train's spin and slide, this paper discusses the train-borne ATP's detection method of two special operation conditions of spin strain and slide train, studies the method about the measuring speed and distance in the condition of spin and slide and amends accordingly the established safe braking model formerly.
In order to verify the availability of domestic typical safe braking model, this paper analyzes the requirements of CTCS3 train control system equipment's composition, function, interface and so on and simulates the train-borne ATP and DMI (Driver Machine Interface) to implement the main function about train-borne subsystem including synthesis of most restricted speed profile, the calculation of speed protection curve of different models, speed protection, mode switch and so on.
本文在剖析CTCS3级列控车载设备结构和功能的基础上,对基于通信的列车防护系统(ATP)关键算法和模型进行了深入研究。本文首先介绍了国内外列车控制系统的发展与现状,阐述了国内车载设备的发展现状。然后,在分析国内、外典型的ATP安全制动模型的基础上,分别对这两种安全制动模型进行了仿真计算,并对仿真结果进行了比较。针对列车出现空转、滑行时会对列车制动距离产生影响,本文讨论了车载ATP对空转、滑行两种列车特殊运行工况的检测方法,并对空转、滑行下测速、测距方法进行了研究,并在此基础上对之前建立的安全制动模型进行了相应的修正。
为了验证国内典型安全制动模型的可用性,本文分析了CTCS3级系统车载设备组成结构、功能、接口等需求,对车载ATP以及人机交互界面DMI进行了仿真,实现了包括：最具限制速度曲线合成、不同工作模式下速度防护曲线的计算、超速防护、工作模式切换等车载子系统主要功能。
Our country's high-speed railway has already been in the time of rapid development. In order to assure operation safety of high-speed railway, train operation control system that is advanced, safe, reliable and efficient is necessary. CTCS3 train control system is based on the wireless communication to implement the two-way information transmission between train-borne equipment and Radio Block Center (RBC), while ATP (Automatic Train Protection) is the core part of the whole train-borne equipment. ATP's main task is to process integratedly train operation's control information to generate distance to go model curve, monitor train speed and achieve ultimately the train's automatic over-speed protection.
Based on the analysis of the structure and function of CTCS3 train-borne equipment, this paper studies deeply in key algorithms and models of the ATP based on communication. Firstly, this paper describes the development and current status of domestic and international train control system and elaborates the development and current status of domestic train-borne equipment. Then on the basis of analyzing domestic and foreign typical ATP safe braking model, the two models are simulated respectively and the simulation results are compared. Against the affect of train's spin and slide, this paper discusses the train-borne ATP's detection method of two special operation conditions of spin strain and slide train, studies the method about the measuring speed and distance in the condition of spin and slide and amends accordingly the established safe braking model formerly.
In order to verify the availability of domestic typical safe braking model, this paper analyzes the requirements of CTCS3 train control system equipment's composition, function, interface and so on and simulates the train-borne ATP and DMI (Driver Machine Interface) to implement the main function about train-borne subsystem including synthesis of most restricted speed profile, the calculation of speed protection curve of different models, speed protection, mode switch and so on.
引文
[1]钱立新.速度350km／h等级世界高速列车技术发展.中国铁道科学.2007,28(4)：66-69
[2]刘妍君.瑞士采用ERTMS/ETCS2级系统.中国铁路.2006,4：78
[3]邓卫升.ETCS及其在高速铁路中的应用.铁道通信信号.2006,42(6)：31-33
[4]Youchi Baba.李照敬.日本指出信号系统发展的另一途径.铁路通信信号工程技术.2008,5(6)：64
[5]黄悦.铁路扩能新技术：增强型列车控制系统.科技创新.2006,2：12-13
[6]谈敏.CTCS3级车载设备测试平台研究.北京交通大学.2008：5-9
[7]张曙光.CTCS-3级列控系统总体技术方案.中国铁道出版社,2008：2-3,92-105
[8]傅世善.列控与闭塞概论.中国铁道出版社.2006：15-16
[9]Rail Transit Vehicle Interface Standards Committee of the IEEE Vehicular Technology Society.IEEE Guide for the Calculation of Braking Distances for Rail Transit Vehicles, the United States of America:the Institute of Electrical and Electronics Engineers, Inc.2009:3-15
[10]Rail Transit Vehicle Interface Standards Committee of the IEEE Vehicular Technology Society. IEEE 1474.1TM IEEE Standard for Communications-Based Train Control(CBTC) Performance and Functional Requirements, the United States of America:the Institute of Electrical and Electronics Engineers, Inc.2005:32-34
[11]李益民,张维.动车组制动系统.西南交通大学出版社.2008：81-82
[12]彭俊彬.动车组牵引与制动.中国铁道出版社,2009：109-113
[13]王月明.动车组制动技术.中国铁道出版社,2009
[14]孙中央.列车牵引计算实用教程.中国铁道出版社,2005：103-104
[15]彭其渊.石红国.魏德勇.城市轨道交通列车牵引计算.西南交通大学出版社,2005
[16]毛保华.列车运行计算与设计.中国铁道出版社,2008：112-115
[17]李堂成.西门子准移动闭塞信号系统的安全区段概念.城市轨道交通研究.2007.5：49-51
[18]宁滨.列车超速防护系统的制动精度和安全防护距离初探.北方交通大学学报.1995,19(1)：13
[19]郭宁.CTCS2级列控系统超速防护仿真研究.西南交通大学,2008：43-44
[20]余祖俊,赵爱菊.列车测速测距系统研究.铁道学报.1995,17(9)：48
[21]刘越,宁滨.列车测速测距方式的探讨.铁道通信信号.1997,33(12)：1
[22]陈艳华.传感器在高速铁路中的运用.电子设计工程,2009：17(10)：34
[23]唐伟,孙志芳,陈全.基于DSP的车载雷达测速系统设计.自动化技术与应用.2006.25(7)：20
[24]张武娟.雷达测速在列车运行中的研究与应用.中南大学.2008：10-13
[25]唐涛,郜春海,李开成,燕飞.基于通信的列车运行控制技术发展战略探讨.都市快轨交通.2005,18(6)：27
[26]谢火明.VxWorks在列车超速防护系统中的应用研究．北京交通大学,2005：33-34
[27]李方敏.Vxworks高级程序设计.清华大学出版社,2004：6-7
[28]田俊峰.实时系统中任务优先级的综合决策模型.微机发展.1999,1：10
[29]单晟．Windows CE操作系统在机车显示器上的应用研究.机车电传动.2004,6：62
[30]黄丹,邵惠鹤.基于Windows CE平台的多线程编程.微计算机信息.2007,23(12)
[31]孙鑫.VC++深入详解．北京电子工业出版社,2006
[32]朱磊.基于可重用框架的CTCS仿真车载DMI研究与实现．北京交通大学,2009
[33]徐啸明,袁湘鄂,李萍.列控车载设备北京：中国铁道出版社,2007：17-18,88-100
[34]周航慈,吴光文.基于嵌入式实时操作系统的程序设计技术.北京航空航天大学出版社,2006
[35]汪兵,李存斌,陈鹏.EVC高级编程及应用开发.中国水利水电出版社,2005
[36]何宗健.Windows CE嵌入式系统．北京航空航天大学出版社,2006
[37]Josef Doppelbauer,Dietrich Rhein,Chirsto Angelov, Manfred Hartberger. Introduction of ERTMS/ETCS from a Supplier's Point of View. Signal+Draht.2000,9 (92)
[38]G Anitra. TCS:Switzerland Takes the Next Step. International Railway Journal.2008,48 (10)
[39]J.M.Mera,L.M.Cutierrez,et al. Simulation of the railways control and protection ERTMS/ETCS levels 0,1 and 2. Proceedings of COMPRAIL 2002. Computers in Railways VIII.2002
[40]Guo You-min,Wang Zhi-wei,Wu Fu et al. Train operation and movement simulation system Journal of Lanzhou Railway University.2002,21(6)
[41]T K Ho, B H Mao, Z Z Yuan, H D Liu, Y F Fung. Computer Simulation and Modelling in Railway Applications.Computer Physics Communications.2002
[42]P. di Tommaso,R Flammin,A. Lazzaro, R. Pellecchia, A. Sanseviero.The Simulation of Anomalies in the Functional Testing of the ERTMS/ETCS Trackside System, Proceedings of the Ninth IEEE International Symposium on High-Assurance Systems Engineering(HASE'05).2005
[43]R Addeo, B. Allotta, M. Malvezzi, L. Pugi, A. Tarasconi&M. Violani. ATP/ATC subsystem testing and validation using a HIL test rig.Computers in Railways Ⅸ. Southampton. Wit Press.2004
[44]ShangGuan Wei, Cai Bai-Gen, Wang Jian and Gou Chen-Xi. Research of MRM-based CTCS-3 Level Train Operation Control System Simulation Support Technology.2009
[45]G. K.Palshikar. Safety Checking in an Automatic Train Operation System.Information and Software Technology.2001
[46]A.H. Cribbens. Solid-State Interlocking (SSI):An Integrated Electronic System Signaling for Mainline Railways.IEE Proceedings.1987
[47]Douglass,Bruce Powel.Doing Hard Time:Developing Real-Time Systems using UML Objects,Frameworks and Patterns Reading, MA:Addison-Wesley.1999
[48]J. P. Bowen, V. Stavridou. Safety-Critical Systems, Formal Methods and Standards.IEE BCS Software Engineering Journal.1993
[49]张云生.实时控制系统软件设计原理及应用.国防工业出版社,1998
[50]铁道部科学技术司,铁道部运输局.中国列车运行控制系统CTCS名词术语(V1.0),2008：13
[51]内田清五.日本新干线列车制动系统.中国铁道出版社,2004
[52]铁道部科学技术司,铁道部运输局.C3-SRS_第二章系统基本描述(V1.0),2008：7-10
[2]刘妍君.瑞士采用ERTMS/ETCS2级系统.中国铁路.2006,4：78
[3]邓卫升.ETCS及其在高速铁路中的应用.铁道通信信号.2006,42(6)：31-33
[4]Youchi Baba.李照敬.日本指出信号系统发展的另一途径.铁路通信信号工程技术.2008,5(6)：64
[5]黄悦.铁路扩能新技术：增强型列车控制系统.科技创新.2006,2：12-13
[6]谈敏.CTCS3级车载设备测试平台研究.北京交通大学.2008：5-9
[7]张曙光.CTCS-3级列控系统总体技术方案.中国铁道出版社,2008：2-3,92-105
[8]傅世善.列控与闭塞概论.中国铁道出版社.2006：15-16
[9]Rail Transit Vehicle Interface Standards Committee of the IEEE Vehicular Technology Society.IEEE Guide for the Calculation of Braking Distances for Rail Transit Vehicles, the United States of America:the Institute of Electrical and Electronics Engineers, Inc.2009:3-15
[10]Rail Transit Vehicle Interface Standards Committee of the IEEE Vehicular Technology Society. IEEE 1474.1TM IEEE Standard for Communications-Based Train Control(CBTC) Performance and Functional Requirements, the United States of America:the Institute of Electrical and Electronics Engineers, Inc.2005:32-34
[11]李益民,张维.动车组制动系统.西南交通大学出版社.2008：81-82
[12]彭俊彬.动车组牵引与制动.中国铁道出版社,2009：109-113
[13]王月明.动车组制动技术.中国铁道出版社,2009
[14]孙中央.列车牵引计算实用教程.中国铁道出版社,2005：103-104
[15]彭其渊.石红国.魏德勇.城市轨道交通列车牵引计算.西南交通大学出版社,2005
[16]毛保华.列车运行计算与设计.中国铁道出版社,2008：112-115
[17]李堂成.西门子准移动闭塞信号系统的安全区段概念.城市轨道交通研究.2007.5：49-51
[18]宁滨.列车超速防护系统的制动精度和安全防护距离初探.北方交通大学学报.1995,19(1)：13
[19]郭宁.CTCS2级列控系统超速防护仿真研究.西南交通大学,2008：43-44
[20]余祖俊,赵爱菊.列车测速测距系统研究.铁道学报.1995,17(9)：48
[21]刘越,宁滨.列车测速测距方式的探讨.铁道通信信号.1997,33(12)：1
[22]陈艳华.传感器在高速铁路中的运用.电子设计工程,2009：17(10)：34
[23]唐伟,孙志芳,陈全.基于DSP的车载雷达测速系统设计.自动化技术与应用.2006.25(7)：20
[24]张武娟.雷达测速在列车运行中的研究与应用.中南大学.2008：10-13
[25]唐涛,郜春海,李开成,燕飞.基于通信的列车运行控制技术发展战略探讨.都市快轨交通.2005,18(6)：27
[26]谢火明.VxWorks在列车超速防护系统中的应用研究．北京交通大学,2005：33-34
[27]李方敏.Vxworks高级程序设计.清华大学出版社,2004：6-7
[28]田俊峰.实时系统中任务优先级的综合决策模型.微机发展.1999,1：10
[29]单晟．Windows CE操作系统在机车显示器上的应用研究.机车电传动.2004,6：62
[30]黄丹,邵惠鹤.基于Windows CE平台的多线程编程.微计算机信息.2007,23(12)
[31]孙鑫.VC++深入详解．北京电子工业出版社,2006
[32]朱磊.基于可重用框架的CTCS仿真车载DMI研究与实现．北京交通大学,2009
[33]徐啸明,袁湘鄂,李萍.列控车载设备北京：中国铁道出版社,2007：17-18,88-100
[34]周航慈,吴光文.基于嵌入式实时操作系统的程序设计技术.北京航空航天大学出版社,2006
[35]汪兵,李存斌,陈鹏.EVC高级编程及应用开发.中国水利水电出版社,2005
[36]何宗健.Windows CE嵌入式系统．北京航空航天大学出版社,2006
[37]Josef Doppelbauer,Dietrich Rhein,Chirsto Angelov, Manfred Hartberger. Introduction of ERTMS/ETCS from a Supplier's Point of View. Signal+Draht.2000,9 (92)
[38]G Anitra. TCS:Switzerland Takes the Next Step. International Railway Journal.2008,48 (10)
[39]J.M.Mera,L.M.Cutierrez,et al. Simulation of the railways control and protection ERTMS/ETCS levels 0,1 and 2. Proceedings of COMPRAIL 2002. Computers in Railways VIII.2002
[40]Guo You-min,Wang Zhi-wei,Wu Fu et al. Train operation and movement simulation system Journal of Lanzhou Railway University.2002,21(6)
[41]T K Ho, B H Mao, Z Z Yuan, H D Liu, Y F Fung. Computer Simulation and Modelling in Railway Applications.Computer Physics Communications.2002
[42]P. di Tommaso,R Flammin,A. Lazzaro, R. Pellecchia, A. Sanseviero.The Simulation of Anomalies in the Functional Testing of the ERTMS/ETCS Trackside System, Proceedings of the Ninth IEEE International Symposium on High-Assurance Systems Engineering(HASE'05).2005
[43]R Addeo, B. Allotta, M. Malvezzi, L. Pugi, A. Tarasconi&M. Violani. ATP/ATC subsystem testing and validation using a HIL test rig.Computers in Railways Ⅸ. Southampton. Wit Press.2004
[44]ShangGuan Wei, Cai Bai-Gen, Wang Jian and Gou Chen-Xi. Research of MRM-based CTCS-3 Level Train Operation Control System Simulation Support Technology.2009
[45]G. K.Palshikar. Safety Checking in an Automatic Train Operation System.Information and Software Technology.2001
[46]A.H. Cribbens. Solid-State Interlocking (SSI):An Integrated Electronic System Signaling for Mainline Railways.IEE Proceedings.1987
[47]Douglass,Bruce Powel.Doing Hard Time:Developing Real-Time Systems using UML Objects,Frameworks and Patterns Reading, MA:Addison-Wesley.1999
[48]J. P. Bowen, V. Stavridou. Safety-Critical Systems, Formal Methods and Standards.IEE BCS Software Engineering Journal.1993
[49]张云生.实时控制系统软件设计原理及应用.国防工业出版社,1998
[50]铁道部科学技术司,铁道部运输局.中国列车运行控制系统CTCS名词术语(V1.0),2008：13
[51]内田清五.日本新干线列车制动系统.中国铁道出版社,2004
[52]铁道部科学技术司,铁道部运输局.C3-SRS_第二章系统基本描述(V1.0),2008：7-10