Design And Implementation Of Assisted Driving System For Heavy-haul Train

Heavy-haul train has the characteristics of "heavy load,long train formation",the longitudinal impulse during train operation is large,improper operation may even cause the coupler to separate or break;in addition,the distance of heavy-haul railway lines is long and the operating environment of trains changes greatly,and the combination of complex road sections and braking methods increases the difficulty of train control.The control mode of the heavy-haul train is basically the manual control mode,which generally requires multiple drivers to drive for a long time,and the manual labor intensity is high.At present,automatic driving has been widely used in the field of urban rail transit and high-speed railway,but in the field of freight trains,automatic driving is still in its infancy.The research on the train assisted driving system for heavy-haul railway,which can not only meet the needs of developing railway intelligent equipment,but also improve the safety,stability,punctuality and energy saving of the train by replacing the manual operation with the automatic control system,is of great significance for expanding the application field of railway automatic driving technology in China.Based on the established multi-particle model of heavy-haul train and related models of train operation,the thesis uses implicit equilibrium iterative numerical integration method to solve the longitudinal dynamic equation,and uses object-oriented programming technology,network communication technology,database technology to design and complete the assisted driving system of heavy-haul train.The system obtains the status information of train operation by receiving the data of the existing on-board equipment of freight train.Under the condition that the driver is on duty and does not affect the LKJ system and locomotive operation safety,the driver only implements pre-start/post-stop and other limited intervention operations,and the assisted driving system replaces the driver to conduct traction and braking operations,so as to realize the function of assisted automatic control of train operation.The system mainly includes basic data analysis processing module,coupler force estimation module,system logic module,human-machine interaction module,data communication module.The basic data analysis and processing module reads the original data of the assisted driving system from LKJ device,safety protection device at the rear of train,train control and management system and other equipment,and analyzes and processes the original data at the same time;The coupler force estimation module uses the numerical iteration algorithm to estimate the coupler force during train operation based on the established multi-particle model and coupler buffer model of the heavy-haul train;The system logic module is the core of the system,and the working state of the system is divided into the preparation state,the guidance state,and the auxiliary driving state,which can complete the assisted control of the train and the assisted guidance of the driver to control the train;The human-machine interaction module realizes the display of train operation key information;the data communication module mainly realizes the communication between the assisted driving system and LKJ,with the locomotive control system,with the safety protection device at the rear of train,and with the air brake system.Based on the architecture of locomotive assisted driving system,this thesis designs the software function structure,designs the communication protocol,builds the system database,completes the development of assisted driving system,and simulates and validates the assisted driving system under the experimental conditions.The assisted driving system covers the main operation scenarios of heavy-haul train.The preliminary simulation results show that the system can basically realize the assisted driving of starting at zero speed and stopping at zero speed,which has certain reference value for the study of freight train automatic driving.