城市轨道交通ATP测试系统设计与仿真
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摘要
近年来城市轨道交通发展迅速,但其设备主要依靠进口,因此国产化成为发展瓶颈。其中轨道交通的自动控制系统为难点之一,重点在于利用计算机控制技术实现列车安全平稳、舒适、正点、节能、精确定位停车等运行控制。与单项产品的开发不同,城市轨道交通自动防护系统(Automatic Train Protection, ATP)是一个复杂系统,涉及机车车辆、地车通信、信号联锁、行车指挥以及司机驾驶等诸多因素,系统开发设计中的疏漏乃至错误都在所难免,所研制设备的性能测试与改进也不可能一蹴而就。建立起一套相对合理完整的ATP性能评价指标体系,并应用计算机仿真技术模拟复杂的机车设备环境和列车运行环境,以研究列车运行防护理论与方法,作为一种实验手段来完成对各种车载设备的测试和评价,是一种十分经济而又安全可靠的方法。
本文借鉴复杂过程控制领域的模糊预测控制原理,对于列车自动控制系统(Automatic Train Control, ATC)的子系统——列车自动防护系统进行建模,并构建一套完整的基于隶属函数的ATP模型评价指标体系和ATP测试系统,对ATP模型进行测试评价。本文详细说明了该模型的基本原理及实现步骤：模型分为两部分,ATP系统预测模型和满意优化模型,其中预测模型分为ATP系统的单步和多步预测模型,主要基于预测控制理论,为ATP防护曲线提供依据；满意优化模型是在模糊控制理论基础上引入预测控制原理,用模糊隶属函数描述列车自动防护目标的满意度,建立模糊规则库,构建列车自动防护的多目标优化模型。经过ATP测试系统模型评价指标体系的验证,该模型具有较好的防护效果,其结果是可以接受并令人满意的,从而证明了在列车优化控制原则基础之上的,基于模糊预测控制算法的ATP模型的正确性、通用性和可靠性。
In recent years, urban rail transit develops rapidly, however the equipments mainly rely on imports. So the localization of equipments, in which the automatic control system for rail transit is one of the difficulties, has become the development bottleneck. The main point is how to achieve a smooth safety, comfort, punctuality, energy saving, and precise parking control to the train by means of computer-controlled technology. Different with single product development, urban rail transit ATP is a complex system, involving locomotives, communications, interlocking commanding and driver factors in the design and development. As system errors and omissions are unavoidable, develop equipment and improve the performance test may not come easily. Establish a relatively reasonable complete ATP performance evaluation index system, and introduce computer simulation technology of complex locomotive equipment and train operation environment, as an experimental method to finish all kinds of on-board equipment testing and evaluation, is a kind of economy method.
This paper presents a model of automatic train protection system (ATP), by drawing the principle of fuzzy predictive control in the field of the complex process control, and constructs the model on a complete set of subordinate function of ATP model based on the evaluation index system and test system of ATP. This paper explains the basic principle of this model and realize the steps:the model is divided into two parts, predictive model and satisfactory optimization model. Predictive model, which is mainly based on predictive control theory, providing theoretic foundation for the protection curve of ATP, divides into the ATP system single-step and multi-step predictive model; Satisfactory optimization model is for the automatic protection of the multi-objective optimization, it introduces predictive control principle based on fuzzy control theory, describes the satisfaction of train automatic protection objectives with fuzzy membership functions and establishment of the fuzzy rules. After simulation and comparative analysis, it shows that the model has a better protective effect, and the result is acceptable and satisfactory. So the accuracy, versatility and reliability of the model of ATP system, which based on the principle of train optimal control and fuzzy prediction control, are proved.
本文借鉴复杂过程控制领域的模糊预测控制原理,对于列车自动控制系统(Automatic Train Control, ATC)的子系统——列车自动防护系统进行建模,并构建一套完整的基于隶属函数的ATP模型评价指标体系和ATP测试系统,对ATP模型进行测试评价。本文详细说明了该模型的基本原理及实现步骤：模型分为两部分,ATP系统预测模型和满意优化模型,其中预测模型分为ATP系统的单步和多步预测模型,主要基于预测控制理论,为ATP防护曲线提供依据；满意优化模型是在模糊控制理论基础上引入预测控制原理,用模糊隶属函数描述列车自动防护目标的满意度,建立模糊规则库,构建列车自动防护的多目标优化模型。经过ATP测试系统模型评价指标体系的验证,该模型具有较好的防护效果,其结果是可以接受并令人满意的,从而证明了在列车优化控制原则基础之上的,基于模糊预测控制算法的ATP模型的正确性、通用性和可靠性。
In recent years, urban rail transit develops rapidly, however the equipments mainly rely on imports. So the localization of equipments, in which the automatic control system for rail transit is one of the difficulties, has become the development bottleneck. The main point is how to achieve a smooth safety, comfort, punctuality, energy saving, and precise parking control to the train by means of computer-controlled technology. Different with single product development, urban rail transit ATP is a complex system, involving locomotives, communications, interlocking commanding and driver factors in the design and development. As system errors and omissions are unavoidable, develop equipment and improve the performance test may not come easily. Establish a relatively reasonable complete ATP performance evaluation index system, and introduce computer simulation technology of complex locomotive equipment and train operation environment, as an experimental method to finish all kinds of on-board equipment testing and evaluation, is a kind of economy method.
This paper presents a model of automatic train protection system (ATP), by drawing the principle of fuzzy predictive control in the field of the complex process control, and constructs the model on a complete set of subordinate function of ATP model based on the evaluation index system and test system of ATP. This paper explains the basic principle of this model and realize the steps:the model is divided into two parts, predictive model and satisfactory optimization model. Predictive model, which is mainly based on predictive control theory, providing theoretic foundation for the protection curve of ATP, divides into the ATP system single-step and multi-step predictive model; Satisfactory optimization model is for the automatic protection of the multi-objective optimization, it introduces predictive control principle based on fuzzy control theory, describes the satisfaction of train automatic protection objectives with fuzzy membership functions and establishment of the fuzzy rules. After simulation and comparative analysis, it shows that the model has a better protective effect, and the result is acceptable and satisfactory. So the accuracy, versatility and reliability of the model of ATP system, which based on the principle of train optimal control and fuzzy prediction control, are proved.
引文
[1]曾小清,王长林,张树京.基于通信的轨道交通运行控制[M].上海.同济大学出版社.2007.
[2]刘璟,李红昌,郭雪萌.城市轨道交通发展规律与北京城市轨道交通发展动力机制分析[J].生产力研究.2010.03.139-140
[3]周留运,梁君.轨道交通信号系统安全性评估的实施[J].铁道通信信号.2010.04.41-42
[4]杨燕.列车自动控制系统的分析与研究[J].科技信息.2009.14.438
[5]党建武.模糊控制技术[M].北京.中国铁道出版社.2007.
[6]吴福平.浅谈铁路信号测试系统[J].中小企业管理与科技(上旬刊).2010.03.228-229
[7]刘兆健.中国列车运行控制系统的技术解析[J].城市轨道交通研究.2009.12.83-86
[8]黄钟.上海城市轨道交通ATC系统的发展策略[J].城市轨道交通研究.2003.01.6-8
[9]宋芹,陈凯,崔淑妮,etal.城市轨道交通国产ATP车载设备超速防护功能的仿真实现[J].中国铁道科学.2002.02.48-52
[10]吴明,李新潮.重庆单轨交通信号系统[J].电气化铁道.2004.02.43-46
[11]邓华峰.便于司机驾驶的ATP推荐速度曲线[J].铁道通信信号,2003,(10)：14-15
[12]常成华,贾利民,张锡第.基于模糊逻辑控制的ATP系统研究[J].中国铁道科学.1996.04.110-116
[13]朱小鸥,冯晓云.基于预测控制的ATP算法研究[J].电力机车与城轨车辆.2005.01.29-31
[14]康太平.基于模糊预测控制的列车自动驾驶系统研究[D].成都.西南交通大学.2006.
[15]冯晓云.模糊预测控制及其在列车自动驾驶中的应用研究[D].成都.西南交通大学.2001.
[16]熊诗波,黄长艺.机械工程测试技术基础(第3版)[M].北京.机械工业出版社.2006.
[17]阮奇桢.我和LabVIEW——一个NI工程师的十年编程经验[M].北京.北京航空航天大学出版社.2009.
[18]吴成东,孙秋野,盛科.LabVIEW虚拟仪器程序设计及应用[M].北京.人民邮电出版社.2008.
[19]建设部课题组.完善规划指标体系研究[M].北京.机械工业出版社.2008.
[20]中国土木工程学会城市轨道交通技术推广委员会.中国城市轨道交通新技术[M].北京.中国科学技术出版社.2009.
[21]吴明,方从明.重庆单轨交通列车超速防护及列车检测技术分析[J].现代城市轨道交通.2005.04.15-21
[22]艾珂.国产城市轨道交通ATP仿真系统综述[J].天津冶金.2004.01.13-19
[23]林瑜筠.城市轨道交通信号设备[M].北京.中国铁道出版社.2006.29-53
[24]李波,王自力,吴娜.基于遗传算法的列车优化操纵曲线研究[J].系统仿真技术.2007.04.13-19
[25]崔世文.列车优化操纵与自动驾驶模式的研究与仿真[J].铁道机车车辆.2005.05.9-12
[26]李国勇.神经模糊控制理论及应用[M].北京.电子工业出版社.2009.
[27]曾黄麟.智能计算——关于粗集理论、模糊逻辑、神经网络的理论及其应用[M].重庆.重庆大学出版社.2004.
[28]谢联峻,宁滨.模糊控制在列车自动驾驶中的应用[J].自动化与仪器仪表.1999.04.22-24
[29]钱积新,赵均,徐祖华.预测控制[M].北京.化学工业出版社.2007.
[30]Watanabe I. Advanced automatic train protection system[A].IEEE 44th Vehicular Technology Conference[C].1994.1126-1129
[31]邱红洁,谷银山,李翠.模糊预测的组合预测[J].统计与决策.2009.17.155-157
[32]刘剑锋,刘友梅,桂卫华,刘豫湘,黄志武.基于模糊预测控制的机车制动控制方法[J].中南大学学报(自然科学版).2009.05.1329-1354
[33]Goddard E. Overview of signaling and train control systems[A]. The 9th Institution of Engineering and Technology Professional Development Course on Electric Traction Systems[C].2006.336-350
[34]Nielsen, Steen Nrby. Automatic Train Protection for Private Railways in Denmark[J]. ZEV Rail Glasers Annalen(S1618-8330),2002, v 126, n 12,560-563,
[35]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[J].铁道通信信号.2005.41.19-21.
[36]黄琴.关于提高旅客乘车舒适度的2点建议[J].铁道车辆.2005.11.24
[37]江亚,吴汶麒,刘进.磁浮列车运行控制系统二维速度防护曲线仿真[J].同济大学学报(自然科学版).2004.03.337-400
[38]陈飞,徐洪泽.德国高速磁浮列车安全防护速度曲线研究[J].中国科技信息.2006.17.248-251
[39]刘智勇.高速磁浮列车安全速度曲线算法及紧急制动控制研究[D].浙江大学,2004
[40]郭彤城,慕春棣,刘韧,etal.一种实用高速铁路ATP算法的设计与实现[J].清华大学学报(自然科学版).2000.07.51-54
[2]刘璟,李红昌,郭雪萌.城市轨道交通发展规律与北京城市轨道交通发展动力机制分析[J].生产力研究.2010.03.139-140
[3]周留运,梁君.轨道交通信号系统安全性评估的实施[J].铁道通信信号.2010.04.41-42
[4]杨燕.列车自动控制系统的分析与研究[J].科技信息.2009.14.438
[5]党建武.模糊控制技术[M].北京.中国铁道出版社.2007.
[6]吴福平.浅谈铁路信号测试系统[J].中小企业管理与科技(上旬刊).2010.03.228-229
[7]刘兆健.中国列车运行控制系统的技术解析[J].城市轨道交通研究.2009.12.83-86
[8]黄钟.上海城市轨道交通ATC系统的发展策略[J].城市轨道交通研究.2003.01.6-8
[9]宋芹,陈凯,崔淑妮,etal.城市轨道交通国产ATP车载设备超速防护功能的仿真实现[J].中国铁道科学.2002.02.48-52
[10]吴明,李新潮.重庆单轨交通信号系统[J].电气化铁道.2004.02.43-46
[11]邓华峰.便于司机驾驶的ATP推荐速度曲线[J].铁道通信信号,2003,(10)：14-15
[12]常成华,贾利民,张锡第.基于模糊逻辑控制的ATP系统研究[J].中国铁道科学.1996.04.110-116
[13]朱小鸥,冯晓云.基于预测控制的ATP算法研究[J].电力机车与城轨车辆.2005.01.29-31
[14]康太平.基于模糊预测控制的列车自动驾驶系统研究[D].成都.西南交通大学.2006.
[15]冯晓云.模糊预测控制及其在列车自动驾驶中的应用研究[D].成都.西南交通大学.2001.
[16]熊诗波,黄长艺.机械工程测试技术基础(第3版)[M].北京.机械工业出版社.2006.
[17]阮奇桢.我和LabVIEW——一个NI工程师的十年编程经验[M].北京.北京航空航天大学出版社.2009.
[18]吴成东,孙秋野,盛科.LabVIEW虚拟仪器程序设计及应用[M].北京.人民邮电出版社.2008.
[19]建设部课题组.完善规划指标体系研究[M].北京.机械工业出版社.2008.
[20]中国土木工程学会城市轨道交通技术推广委员会.中国城市轨道交通新技术[M].北京.中国科学技术出版社.2009.
[21]吴明,方从明.重庆单轨交通列车超速防护及列车检测技术分析[J].现代城市轨道交通.2005.04.15-21
[22]艾珂.国产城市轨道交通ATP仿真系统综述[J].天津冶金.2004.01.13-19
[23]林瑜筠.城市轨道交通信号设备[M].北京.中国铁道出版社.2006.29-53
[24]李波,王自力,吴娜.基于遗传算法的列车优化操纵曲线研究[J].系统仿真技术.2007.04.13-19
[25]崔世文.列车优化操纵与自动驾驶模式的研究与仿真[J].铁道机车车辆.2005.05.9-12
[26]李国勇.神经模糊控制理论及应用[M].北京.电子工业出版社.2009.
[27]曾黄麟.智能计算——关于粗集理论、模糊逻辑、神经网络的理论及其应用[M].重庆.重庆大学出版社.2004.
[28]谢联峻,宁滨.模糊控制在列车自动驾驶中的应用[J].自动化与仪器仪表.1999.04.22-24
[29]钱积新,赵均,徐祖华.预测控制[M].北京.化学工业出版社.2007.
[30]Watanabe I. Advanced automatic train protection system[A].IEEE 44th Vehicular Technology Conference[C].1994.1126-1129
[31]邱红洁,谷银山,李翠.模糊预测的组合预测[J].统计与决策.2009.17.155-157
[32]刘剑锋,刘友梅,桂卫华,刘豫湘,黄志武.基于模糊预测控制的机车制动控制方法[J].中南大学学报(自然科学版).2009.05.1329-1354
[33]Goddard E. Overview of signaling and train control systems[A]. The 9th Institution of Engineering and Technology Professional Development Course on Electric Traction Systems[C].2006.336-350
[34]Nielsen, Steen Nrby. Automatic Train Protection for Private Railways in Denmark[J]. ZEV Rail Glasers Annalen(S1618-8330),2002, v 126, n 12,560-563,
[35]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[J].铁道通信信号.2005.41.19-21.
[36]黄琴.关于提高旅客乘车舒适度的2点建议[J].铁道车辆.2005.11.24
[37]江亚,吴汶麒,刘进.磁浮列车运行控制系统二维速度防护曲线仿真[J].同济大学学报(自然科学版).2004.03.337-400
[38]陈飞,徐洪泽.德国高速磁浮列车安全防护速度曲线研究[J].中国科技信息.2006.17.248-251
[39]刘智勇.高速磁浮列车安全速度曲线算法及紧急制动控制研究[D].浙江大学,2004
[40]郭彤城,慕春棣,刘韧,etal.一种实用高速铁路ATP算法的设计与实现[J].清华大学学报(自然科学版).2000.07.51-54