城际铁路车载列控系统安全及智能控制关键技术研究
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摘要
城际铁路是我国未来铁路建设的重要方向,作为区域性城市之间的快速客运专用轨道交通系统,将缩短城市间旅行时间、提高人们的旅行质量。目前,我国比较典型城际铁路网——珠三角城际铁路已开工建设,建设方案中明确要求列控系统需具备自动驾驶ATO(Automatic Train Operation)功能；列车自动防护ATP(Automatic Train Protection)系统需要通过SIL4(Safety Integrity Level)级安全认证,自动驾驶ATO系统需通过SIL2安全认证。
我国已建成的城际线路均采用不具备ATO功能的CTCS-2/CTCS-3(Chinese Train Control System)级列控系统；欧洲、日本、美国等国的城际列控系统采用国铁信号制式,无自动驾驶功能。自主研制满足城际铁路运输需求的城际列控系统不仅有迫切的市场需求,而且对我国城际铁路安全关键装备的可持续发展有着非常重要的意义。
本论文在对国内外轨道交通相关的产品、技术、标准深入分析的基础上,重点研究了城际车载列控系统安全及智能控制系列关键技术,主要包括安全计算机平台的系统架构、系统诊断、安全接口以及ATO智能控制；构建了城际列控车载系统并通过实验室测试环境的仿真测试与验证,效果较好,具备了试验线上道测试的条件。本文重点核心研究内容主要包括以下几个方面：
(1)通过可靠性理论分析,对双重化、三重化以及四重化的安全系统结构进行了深入研究,提出了全新的高可用性四重冗余安全计算平台架构HAQVC (High Availability Quadruple Vital Computer)。通过系统仿真与安全分析,基于该平台架构的安全系统可靠性、可用性、可维护性和安全性评估指标均优于其他的安全计算平台。
(2)安全平台的核心是故障导向安全,系统故障诊断是非常重要的安全关键技术。电源、主控单元是安全计算机平台的两个核心子系统,本论文分析其失效机理并进行失效建模,深入研究了诊断电路关键技术和内存诊断关键算法,该诊断技术已成功应用于SIL4级安全车载系统中。
(3)城际车载安全计算机平台的安全接口单元是城际列控制系统的关键功能单元。在既有信号系统安全接口技术分析基础上,针对其存在的缺陷和隐患,进行了全新的安全开关量输入和输出关键技术研究；提出了一种全新的在线故障检测方法,可实现驱动线包侧、触点侧的状态反馈的交叉回检,并具有器件状态动态检测,确保危险失效能够及时被检出；通过系统故障树的分析,其指标满足SIL4级安全要求。
(4)基于城际铁路运营需求与CTCS-2列控系统技术特点,研究城际铁路自动驾驶ATO系统功能特征及总体构架；在城际列车牵引与制动模型研究的基础上,对城际ATO的曲线规划算法、规划曲线优化、控制算法等关键技术进行攻关研究,实现了ATO系统与ATP系统良好适配,从而提高列车运营控制的效果,提升城际铁路的运营品质和智能化水平,满足安全、舒适、准时与节能的需要。
论文最后的结论部分,对城际铁路安全系统及自动驾驶系统的研究方向和内容进行了探索性阐述。
The development and construction of modern intercity railway systems being one of the most important infrastructures have been playing a critical role in improving energy consumption, air pollution, logistics, human life, and promoting economy development. The Pearl River Delta (PRD) Intercity Railway, a typical intercity railway network under construction in China has proposed high demand for both Automatic Train Operation (ATO) and Automatic Train Protection (ATP) systems. They should pass the SIL4(Safety Integrity Level) and the S1L2safety certifications respectively.
All the intercity railways systems built in China were equipped with CTCS-2/CTCS-3(China Train Control System) level train control systems, which do not have the functions of the ATO. It should be noted that the intercity railway systems in Europe, Japan and the United States are only furnished with national railway signaling systems, which do not have the functions of ATO. Consequently, the intercity railway train control system being developed in China, e.g., PRD control system, will be the most advanced and unique with innovative technologies in the world.
Based on the dedicated study and analysis on rail-transportation-related products, technologies and standards in both domestic and international, this thesis focuses on the key technologies of both "safety" and "intelligent control" for the on-board train control systems, that include system architecture of vital computer platform, system diagnostics, safety interface and intelligent control of ATO. Moreover, the intercity railway onboard train control system has been developed and constructed through the simulation testing and validation with laboratory testing environment. The simulation tests have shown good results and the systems developed could be further tested and validated through real-road online operations. The major contributions of this thesis include the following aspects:
(1) Based on the reliability fundamentals, solutions and the analytical studies on systems architectures of dual, triple and quadruple safety systems, a novel system architecture and platform for high availability quadruple vital computer (HAQVC) are proposed. Through system simulation and safety analysis, the reliability, availability, maintainability and safety of the HAQVC platform have been successfully developed with better performance than existing vital computer platform.
(2) The core functions of the vital computers are mainly twofold:"Fault-Oriented Safety" and "System Fault Diagnosis", they involve very important safety related key technologies. The power supply and the master control unit are two core subsystems existing in vital computer platform. This thesis analyzes the failure mechanism and failure modeling of these two subsystems and has deeply studied the key technologies of diagnostic circuitry and diagnostic algorithm of the memory. The diagnostic technologies developed have been successfully applied in SIL4on board train control systems.
(3) The safety interface unit of the onboard vital computer is the key functional unit for intercity railway on board train control system. Based on the analysis of the safety interface of the existing signaling system, this thesis has developed the key technologies with the novel safe digital inputs and outputs module to overcome the existing shortcomings and pitfall. The proposed novel solutions for online fault detection could achieve the cross back checks of the status feedback of the drive line side and the contact side. It also has the function of device status dynamic monitoring; consequently the risk of failure can be detected and reduced in time. By Fault Tree oriented safety analysis, the indicators of the safety interface fulfill the SIL4requirements.
(4) Based on the operation requirement of the intercity railway and the technical characteristics of the CTCS2train control system, the functional characteristics and the overall structure of the intercity railway ATO system have been developed. On the other hand, based on the research of the traction and braking model of the intercity trains, both curve planning and optimization control algorithms for intercity railway ATO have also been studied to implement the match between ATO and ATP, as a result, the proposed solutions may significantly improve the performances of operation costs, energy consumption, safety, smart management as well as passengers comfort.
Finally, the future directions and studies on ATO and intercity railway safety systems are included in the conclusions.
我国已建成的城际线路均采用不具备ATO功能的CTCS-2/CTCS-3(Chinese Train Control System)级列控系统；欧洲、日本、美国等国的城际列控系统采用国铁信号制式,无自动驾驶功能。自主研制满足城际铁路运输需求的城际列控系统不仅有迫切的市场需求,而且对我国城际铁路安全关键装备的可持续发展有着非常重要的意义。
本论文在对国内外轨道交通相关的产品、技术、标准深入分析的基础上,重点研究了城际车载列控系统安全及智能控制系列关键技术,主要包括安全计算机平台的系统架构、系统诊断、安全接口以及ATO智能控制；构建了城际列控车载系统并通过实验室测试环境的仿真测试与验证,效果较好,具备了试验线上道测试的条件。本文重点核心研究内容主要包括以下几个方面：
(1)通过可靠性理论分析,对双重化、三重化以及四重化的安全系统结构进行了深入研究,提出了全新的高可用性四重冗余安全计算平台架构HAQVC (High Availability Quadruple Vital Computer)。通过系统仿真与安全分析,基于该平台架构的安全系统可靠性、可用性、可维护性和安全性评估指标均优于其他的安全计算平台。
(2)安全平台的核心是故障导向安全,系统故障诊断是非常重要的安全关键技术。电源、主控单元是安全计算机平台的两个核心子系统,本论文分析其失效机理并进行失效建模,深入研究了诊断电路关键技术和内存诊断关键算法,该诊断技术已成功应用于SIL4级安全车载系统中。
(3)城际车载安全计算机平台的安全接口单元是城际列控制系统的关键功能单元。在既有信号系统安全接口技术分析基础上,针对其存在的缺陷和隐患,进行了全新的安全开关量输入和输出关键技术研究；提出了一种全新的在线故障检测方法,可实现驱动线包侧、触点侧的状态反馈的交叉回检,并具有器件状态动态检测,确保危险失效能够及时被检出；通过系统故障树的分析,其指标满足SIL4级安全要求。
(4)基于城际铁路运营需求与CTCS-2列控系统技术特点,研究城际铁路自动驾驶ATO系统功能特征及总体构架；在城际列车牵引与制动模型研究的基础上,对城际ATO的曲线规划算法、规划曲线优化、控制算法等关键技术进行攻关研究,实现了ATO系统与ATP系统良好适配,从而提高列车运营控制的效果,提升城际铁路的运营品质和智能化水平,满足安全、舒适、准时与节能的需要。
论文最后的结论部分,对城际铁路安全系统及自动驾驶系统的研究方向和内容进行了探索性阐述。
The development and construction of modern intercity railway systems being one of the most important infrastructures have been playing a critical role in improving energy consumption, air pollution, logistics, human life, and promoting economy development. The Pearl River Delta (PRD) Intercity Railway, a typical intercity railway network under construction in China has proposed high demand for both Automatic Train Operation (ATO) and Automatic Train Protection (ATP) systems. They should pass the SIL4(Safety Integrity Level) and the S1L2safety certifications respectively.
All the intercity railways systems built in China were equipped with CTCS-2/CTCS-3(China Train Control System) level train control systems, which do not have the functions of the ATO. It should be noted that the intercity railway systems in Europe, Japan and the United States are only furnished with national railway signaling systems, which do not have the functions of ATO. Consequently, the intercity railway train control system being developed in China, e.g., PRD control system, will be the most advanced and unique with innovative technologies in the world.
Based on the dedicated study and analysis on rail-transportation-related products, technologies and standards in both domestic and international, this thesis focuses on the key technologies of both "safety" and "intelligent control" for the on-board train control systems, that include system architecture of vital computer platform, system diagnostics, safety interface and intelligent control of ATO. Moreover, the intercity railway onboard train control system has been developed and constructed through the simulation testing and validation with laboratory testing environment. The simulation tests have shown good results and the systems developed could be further tested and validated through real-road online operations. The major contributions of this thesis include the following aspects:
(1) Based on the reliability fundamentals, solutions and the analytical studies on systems architectures of dual, triple and quadruple safety systems, a novel system architecture and platform for high availability quadruple vital computer (HAQVC) are proposed. Through system simulation and safety analysis, the reliability, availability, maintainability and safety of the HAQVC platform have been successfully developed with better performance than existing vital computer platform.
(2) The core functions of the vital computers are mainly twofold:"Fault-Oriented Safety" and "System Fault Diagnosis", they involve very important safety related key technologies. The power supply and the master control unit are two core subsystems existing in vital computer platform. This thesis analyzes the failure mechanism and failure modeling of these two subsystems and has deeply studied the key technologies of diagnostic circuitry and diagnostic algorithm of the memory. The diagnostic technologies developed have been successfully applied in SIL4on board train control systems.
(3) The safety interface unit of the onboard vital computer is the key functional unit for intercity railway on board train control system. Based on the analysis of the safety interface of the existing signaling system, this thesis has developed the key technologies with the novel safe digital inputs and outputs module to overcome the existing shortcomings and pitfall. The proposed novel solutions for online fault detection could achieve the cross back checks of the status feedback of the drive line side and the contact side. It also has the function of device status dynamic monitoring; consequently the risk of failure can be detected and reduced in time. By Fault Tree oriented safety analysis, the indicators of the safety interface fulfill the SIL4requirements.
(4) Based on the operation requirement of the intercity railway and the technical characteristics of the CTCS2train control system, the functional characteristics and the overall structure of the intercity railway ATO system have been developed. On the other hand, based on the research of the traction and braking model of the intercity trains, both curve planning and optimization control algorithms for intercity railway ATO have also been studied to implement the match between ATO and ATP, as a result, the proposed solutions may significantly improve the performances of operation costs, energy consumption, safety, smart management as well as passengers comfort.
Finally, the future directions and studies on ATO and intercity railway safety systems are included in the conclusions.
引文
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