阅读说明：本技术 基于超级电容供电和弓网双电源供电系统的胶轮导轨电车控制方法 (Rubber wheel guide rail trolley control method based on super capacitor power supply and bow net dual-power supply system ) 是由 胡肖飞 王泉策 张利娟 李�东 徐亚昆 王雷 于 2021-08-25 设计创作，主要内容包括：本发明公开了一种基于超级电容供电和弓网双电源供电系统的胶轮导轨电车控制方法,涉及胶轮导轨电车的控制领域。该控制方法利用软件算法和硬件信号采集完成导轨电车的进出站自动升降弓和充放电,根据检测导标信号、弓网电压信号、升弓信号、降弓信号、保持制动信号和车速信号等参数,通过软件判断车辆进出站需要充电或者放电,实现导轨电车进出站过程中的自动充放电,在整个工作过程中,充电桩全程上高压电无需切换,距站台一定距离设置有导标系统,根据充放电过程和胶轮导轨电车的到站状态,将工作过程分成了五个阶段。本发明可以在保证车辆有效充电的前提下,缩短车辆在站台停留的时间,有利于提高车辆的续航能力和乘客体验,减轻司机压力,保障安全。(The invention discloses a rubber-tyred trolley bus control method based on a super-capacitor power supply system and an arch network dual-power supply system, and relates to the field of control of rubber-tyred trolley buses. The control method utilizes software algorithm and hardware signal acquisition to complete automatic pantograph lifting and discharging of the tramcar when the tramcar enters and exits the station, judges whether the tramcar needs to be charged or discharged when the tramcar enters and exits the station through software according to parameters such as detected beacon signals, pantograph network voltage signals, pantograph lifting signals, pantograph lowering signals, brake keeping signals, speed signals and the like, and realizes automatic charging and discharging of the tramcar when the tramcar enters and exits the station. The invention can shorten the time of the vehicle staying at the platform on the premise of ensuring the effective charging of the vehicle, is beneficial to improving the cruising ability and passenger experience of the vehicle, reduces the pressure of a driver and ensures the safety.)

1. A rubber-tyred trolley control method based on a super-capacitor power supply and bow net dual-power supply system is characterized by comprising the following steps: the control method is realized in the following circuit topology: the traction converter comprises a pre-charging resistor R1, a pre-charging contactor KM2, a main contactor KM1, a bus capacitor Cd, a bidirectional DC/DC charger and an inversion chopper module, wherein the pre-charging resistor R1 and the pre-charging contactor KM2 are connected in series and then connected in parallel at two ends of the main contactor KM1, and then connected with the bus capacitor Cd and the inversion chopper module; the super capacitor circuit comprises a super capacitor body and a pre-charging loop II, wherein the pre-charging loop II comprises a pre-charging resistor R2, a pre-charging contactor K2 and a main contactor K1, the pre-charging resistor R2 and the pre-charging contactor K2 are connected in series and then connected to two ends of a main contactor K1 in parallel, and then connected with a bidirectional DC/DC charger, and the bidirectional DC/DC charger is connected to a bus; the working state that the bidirectional DC/DC charger charges the super capacitor is called charging, and the working state that the bidirectional DC/DC charger discharges from the super capacitor to the direct current bus is called discharging; in whole working process, fill whole journey high voltage electricity of electric pile and need not to switch, be provided with the guide mark system apart from the platform certain distance to carry out signal definition to each operating condition: detecting that the voltage of the pantograph net is in a normal range of 700-900V, defining the voltage as a station state, and enabling the station state to be = 1; detecting a beacon as 1 to define an inbound state in a platform charging stage, and enabling the inbound state to be = 1; detecting a bullet train after charging to a stage of leaving the platform, defining the bullet train as an outbound state, and enabling the outbound state to be = 1;

the specific control process is as follows:

1) stage I: before a vehicle enters a station, the vehicle is powered by a super capacitor, when the vehicle runs to a guide mark position, the guide mark sends a guide mark signal to the vehicle, after the controller receives the guide mark signal =1, the pantograph is controlled to automatically raise the pantograph, a pantograph raising instruction =1 is provided, the guide mark state is set to 1, the station entering state is set to 1, the station exiting state is set to 0, in the stage, the pantograph is not contacted with a pantograph net, the vehicle detects that the voltage of the pantograph net is =0, the super capacitor discharges through DC/DC, and the voltage of a bus is controlled to 750V;

2) and stage II: when the vehicle runs through the position of the beacon but does not contact the pantograph net, the beacon sends a beacon signal to the vehicle, and after the controller receives the beacon signal, the controller controls the pantograph to automatically raise the pantograph, wherein the pantograph raising instruction =1, and the beacon state is set to 1, the station-entering state is set to 1, and the station-exiting state is set to 0;

3) stage III: after the pantograph is automatically lifted, the vehicle continues to run to a platform, a driver stops and passengers get on and off the vehicle, and the pantograph is in contact with the pantograph net; the controller collects bow net voltage signals in a bow net normal voltage range and vehicle parking and brake keeping signals, and automatically switches on the KM1, controls the DC/DC bidirectional charger, changes discharging operation into charging operation, and charges the super capacitor;

4) stage IV: after passengers get on and off the train, a driver prepares to get out of the train, the motor train starts to be separated from the pantograph and the pantograph-catenary and steps on an accelerator pedal according to normal driving operation, a controller collects current signals and speed signals of the accelerator pedal and collects voltage signals of the pantograph-catenary within a normal range, and the controller controls a DC/DC bidirectional charger to be switched from charging operation to discharging operation and lifts the voltage of a bus to be slightly higher than the voltage of the pantograph-catenary;

5) and (5) stage V: when the vehicle leaves the station, the pantograph is separated from the pantograph-catenary contact, and the controller collects that the pantograph-catenary voltage is lower than 200V, the bus voltage is controlled to be 750V, the pantograph is controlled to automatically fall, the station-out state is set to be 1, the station-in state is set to be 0, and the beacon state is set to be 0.

2. The rubber-tyred trolley control method based on the super-capacitor power supply system and the bow net dual-power supply system according to claim 1, characterized in that: the control method finishes the automatic bow lifting and charging and discharging of the tramcar when the tramcar enters and exits the station by using a software algorithm and hardware signal acquisition.

3. The rubber-tyred trolley control method based on the super-capacitor power supply system and the bow net dual-power supply system according to claim 1, characterized in that: and in the step 4), when the vehicle speed is more than 5km/h, the controller controls the DC/DC bidirectional charger to be switched from charging operation to discharging operation.

Technical Field

The invention relates to the field of control of rubber-tyred rail electric cars, in particular to a control method of a rubber-tyred rail electric car based on a super-capacitor power supply system and an arch network dual-power supply system.

Background

With the development of society, the problems of traffic jam and environmental pollution in urban districts become more and more serious. The subway becomes the best choice of urban rail transit, but because the subway construction period is long, the cost is high, the influence by geological environment is greater, so the construction period is short, the rubber-tyred rail tramcar which shares the right of way and has strong climbing capability is a better choice of urban rail transit, the rubber-tyred rail tramcar adopts DC750V to supply power at present, the construction cost and the electromagnetic pollution are greater, and the method has certain limitation; some rubber-tyred rail electric cars adopt a traction battery as a power source in order to increase endurance, but the traction battery cannot perform long-distance traffic due to long charging time and limited capacity. The super capacitor has the advantages of high power density, short charging time, long cycle life, wide working temperature range and the like, and becomes a new favorite of a power supply source of a rail transit traction system, but the control method for the entrance and the exit of the guide rail electric car based on the super capacitor is in the research and development stage at home and abroad at present.

In the prior art, a charging and discharging control method for a super-capacitor power supply guide rail electric car to get in and out of a station comprises the following steps:

1) when the vehicle enters the station, the vehicle is powered by the super capacitor, the vehicle runs to a designated charging position, a driver brakes, the vehicle is converted into a stop state, and the holding brake is automatically applied. The driver turns off the supercapacitor throw-in button. The driver rises the bow operation to the suggestion fills electric pile and can go up high-voltage electricity, and the operating personnel who fills electric pile goes up high-voltage electricity. The pre-charging contactor KM2 is closed, after the direct current bus capacitor is pre-charged, the main contactor KM1 is closed, and the main contactor KM2 is disconnected; a driver presses down a super capacitor input button to close a main contactor in the super capacitor; and starting the bidirectional DC/DC charger to charge the super capacitor.

2) The vehicle charges and finishes, when preparing to go out of the station, the driver drops into the button disconnection with super capacitor, and the driver promotes the operating personnel who fills electric pile and can break off high-voltage electricity, fills electric pile disconnection high-voltage electricity to promote the driver high pressure and has broken off, the driver falls the bow operation. The driver presses the super capacitor input button, the bidirectional DC/DC charger stops charging and changes to a discharging state, and the vehicle is powered by the super capacitor. The driver steps on the accelerator pedal to keep the brake released, and the vehicle exits the platform.

According to the charge-discharge control method, the super capacitor can be charged and discharged, but the number of required manual operation steps is large, a driver who is trained in relevant training and a ground charging pile personnel are required to cooperate to charge, and the ground charging pile is frequently started and stopped, so that the service life of an electric element is influenced; and because the manual operation after the professional is needed to judge, the time from entering the station to leaving the station needs to be additionally increased by some time on the basis of charging time, so that the effective charging time and passenger experience of the vehicle stopping at the station are influenced. Therefore, a new control method is needed to solve the problem that the prior art cannot perform automatic charging and discharging control on the guide rail electric car with super-capacitor and pantograph-catenary hybrid power supply.

Disclosure of Invention

The invention provides a novel rubber wheel guide rail electric car control method based on a super capacitor power supply and bow net dual-power supply system, aiming at solving the problems that time loss is caused by more manual operations and the starting and stopping switching of a super capacitor and a charging pile needs to be frequently carried out in the control method of the rubber wheel guide rail electric car in the prior art.

The invention is realized by the following technical scheme: a rubber-tyred trolley control method based on a super-capacitor power supply system and an arch network dual-power supply system is realized in the following circuit topology: the traction converter comprises a pre-charging resistor R1, a pre-charging contactor KM2, a main contactor KM1, a bus capacitor Cd, a bidirectional DC/DC charger and an inversion chopper module, wherein the pre-charging resistor R1 and the pre-charging contactor KM2 are connected in series and then connected in parallel at two ends of the main contactor KM1, and then connected with the bus capacitor Cd and the inversion chopper module; the super capacitor circuit comprises a super capacitor body and a pre-charging loop II, wherein the pre-charging loop II comprises a pre-charging resistor R2, a pre-charging contactor K2 and a main contactor K1, the pre-charging resistor R2 and the pre-charging contactor K2 are connected in series and then connected to two ends of a main contactor K1 in parallel, and then connected with a bidirectional DC/DC charger, and the bidirectional DC/DC charger is connected to a bus; the working state that the bidirectional DC/DC charger charges the super capacitor is called charging, and the working state that the bidirectional DC/DC charger discharges from the super capacitor to the direct current bus is called discharging; in whole working process, fill whole journey high voltage electricity of electric pile and need not to switch, be provided with the guide mark system apart from the platform certain distance to carry out signal definition to each operating condition: detecting that the voltage of the pantograph net is in a normal range of 700-900V, defining the voltage as a station state, and enabling the station state to be = 1; detecting a beacon as 1 to define an inbound state in a platform charging stage, and enabling the inbound state to be = 1; detecting a bullet train after charging to a stage of leaving the platform, defining the bullet train as an outbound state, and enabling the outbound state to be = 1;

the specific control process is as follows:

1) stage I: before a vehicle enters a station, the vehicle is powered by a super capacitor, when the vehicle runs to a guide mark position, the guide mark sends a guide mark signal to the vehicle, after the controller receives the guide mark signal =1, the pantograph is controlled to automatically raise the pantograph, a pantograph raising instruction =1 is provided, the guide mark state is set to 1, the station entering state is set to 1, the station exiting state is set to 0, in the stage, the pantograph is not contacted with a pantograph net, the vehicle detects that the voltage of the pantograph net is =0, the super capacitor discharges through DC/DC, and the voltage of a bus is controlled to 750V;

2) and stage II: when the vehicle runs through the position of the beacon but does not contact the pantograph net, the beacon sends a beacon signal to the vehicle, and after the controller receives the beacon signal, the controller controls the pantograph to automatically raise the pantograph, wherein the pantograph raising instruction =1, and the beacon state is set to 1, the station-entering state is set to 1, and the station-exiting state is set to 0;

3) stage III: after the pantograph is automatically lifted, the vehicle continues to run to a platform, a driver stops and passengers get on and off the vehicle, and the pantograph is in contact with the pantograph net; the controller collects bow net voltage signals in a bow net normal voltage range and vehicle parking and brake keeping signals, and automatically switches on the KM1, controls the DC/DC bidirectional charger, changes discharging operation into charging operation, and charges the super capacitor;

4) stage IV: after passengers get on and off the train, a driver prepares to get out of the train, the motor train starts to be separated from the pantograph and the pantograph-catenary and steps on an accelerator pedal according to normal driving operation, a controller collects current signals and speed signals of the accelerator pedal and collects voltage signals of the pantograph-catenary within a normal range, and the controller controls a DC/DC bidirectional charger to be switched from charging operation to discharging operation and lifts the voltage of a bus to be slightly higher than the voltage of the pantograph-catenary;

5) and (5) stage V: when the vehicle leaves the station, the pantograph is separated from the pantograph-catenary contact, and the controller collects that the pantograph-catenary voltage is lower than 200V, the bus voltage is controlled to be 750V, the pantograph is controlled to automatically fall, the station-out state is set to be 1, the station-in state is set to be 0, and the beacon state is set to be 0.

The invention judges whether the vehicle needs to be charged or discharged when entering or exiting the station through software according to parameters such as detected beacon signals, pantograph network voltage signals, pantograph rising signals, pantograph falling signals, holding brake signals, vehicle speed signals and the like, realizes automatic charging and discharging in the process of entering and exiting the station of the guide rail electric car, is divided into five stages according to the working process of the guide rail electric car, and the circuit in each working stage carries out different charging and discharging actions so as to eliminate time loss caused by more manual operations.

Compared with the prior art, the invention has the following beneficial effects: the rubber-tyred trolley bus control method based on the super-capacitor power supply system and the pantograph dual-power supply system solves the problems that the existing method depends on time loss caused by more manual operation, and the super-capacitor and the charging pile need frequent start-stop switching, can shorten the stay time of a vehicle at a platform on the premise of ensuring effective charging of the vehicle, and is beneficial to improving the cruising ability of the vehicle and passenger experience; meanwhile, the manual operation of many drivers is reduced, the pressure of the drivers is relieved, the safety is guaranteed, and the method can be applied to engineering practice.

Drawings

Fig. 1 is a topological diagram of a traction converter and a super capacitor of a rubber-tyred trolley car.

FIG. 2 is a schematic view of the vehicle, bow net and heading of the present invention as the vehicle passes the heading location at stage I.

Fig. 3 is a schematic view of the vehicle, bow net and heading prior to the arrival of the vehicle of the present invention at stage ii.

FIG. 4 is a schematic view of the vehicle, bow net and heading of the present invention in phase III.

Fig. 5 is a schematic view of the vehicle, bow net and heading of the present invention during phase iv.

FIG. 6 is a schematic view of the vehicle, pantograph and headings of the present invention during stage V.

Fig. 7 is a flow chart of the present invention during the inbound and outbound processes.

The figures are labeled as follows: 1-vehicle, 2-pantograph, 3-pantograph-catenary and 4-guide mark.

Detailed Description

The present invention is further illustrated by the following specific examples.

A rubber-tyred trolley control method based on a super-capacitor power supply system and a bow net dual-power supply system is realized in the following circuit topology, as shown in FIG. 1: the traction converter comprises a pre-charging resistor R1, a pre-charging contactor KM2, a main contactor KM1, a bus capacitor Cd, a bidirectional DC/DC charger and an inversion chopper module, wherein the pre-charging resistor R1 and the pre-charging contactor KM2 are connected in series and then connected in parallel at two ends of the main contactor KM1, and then connected with the bus capacitor Cd and the inversion chopper module; the super capacitor circuit comprises a super capacitor body and a pre-charging loop II, wherein the pre-charging loop II comprises a pre-charging resistor R2, a pre-charging contactor K2 and a main contactor K1, the pre-charging resistor R2 and the pre-charging contactor K2 are connected in series and then connected to two ends of a main contactor K1 in parallel, and then connected with a bidirectional DC/DC charger, and the bidirectional DC/DC charger is connected to a bus; the working state that the bidirectional DC/DC charger charges the super capacitor is called charging, and the working state that the bidirectional DC/DC charger discharges from the super capacitor to the direct current bus is called discharging; in whole working process, fill whole journey high voltage electricity of electric pile and need not to switch, be provided with the guide mark system apart from the platform certain distance to carry out signal definition to each operating condition: detecting that the voltage of the pantograph net is in a normal range of 700-900V, defining the voltage as a station state, and enabling the station state to be = 1; detecting a beacon as 1 to define an inbound state in a platform charging stage, and enabling the inbound state to be = 1; detecting a bullet train after charging to a stage of leaving the platform, defining the bullet train as an outbound state, and enabling the outbound state to be = 1;

the specific control process is as follows, the control method finishes the automatic pantograph lifting and charging and discharging of the tramcar by using a software algorithm and hardware signal acquisition, and the flow chart is shown in fig. 7:

1) stage I: before a vehicle enters a station, the vehicle is powered by a super capacitor, when the vehicle runs to a guide mark position, the guide mark sends a guide mark signal to the vehicle, after the controller receives the guide mark signal =1, the pantograph is controlled to automatically raise the pantograph, a pantograph raising instruction =1 is provided, the guide mark state is set to 1, the station entering state is set to 1, the station exiting state is set to 0, in the stage, the pantograph is not contacted with a pantograph net, the vehicle detects that the voltage of the pantograph net is =0, the super capacitor is subjected to DC/DC discharge, and the bus voltage is controlled to 750V, as shown in FIG. 2;

2) and stage II: when the vehicle runs through the position of the beacon but does not contact the pantograph net, the beacon sends a beacon signal to the vehicle, and after the controller receives the beacon signal, the controller controls the pantograph to automatically raise the pantograph, wherein the pantograph raising instruction =1, and the beacon state is set to 1, the station-in state is set to 1, and the station-out state is set to 0, as shown in fig. 3;

3) stage III: after the pantograph is automatically lifted, the vehicle continues to run to a platform, a driver stops and passengers get on and off the vehicle, and the pantograph is in contact with the pantograph net; the controller collects that the pantograph voltage signal is in the normal pantograph voltage range and the vehicle stops and keeps the brake signal, automatically switches on the KM1, controls the DC/DC bidirectional charger, changes the discharging operation into the charging operation, and charges the super capacitor, as shown in FIG. 4;

4) stage IV: after passengers get on or off the train, a driver prepares to get out of the train, the motor train starts to be separated from the pantograph and the pantograph-catenary and steps on an accelerator pedal according to normal driving operation, a controller collects current signals and speed signals of the accelerator pedal and voltage signals of the pantograph-catenary within a normal range, and when the speed of the train is more than 5km/h, the controller controls a DC/DC bidirectional charger to be switched from charging operation to discharging operation and lifts the voltage of a bus to be slightly higher than the voltage of the pantograph-catenary, as shown in figure 5;

5) and (5) stage V: when the vehicle leaves the station, the pantograph is separated from the pantograph-catenary contact, and the controller collects that the pantograph-catenary voltage is lower than 200V, the bus voltage is controlled to be 750V, the pantograph is controlled to automatically fall, the outbound state is set to 1, the inbound state is set to 0, and the beacon state is set to 0, as shown in fig. 6.

Truth tables in five stages of station entrance and exit are shown in the following table:

	stage 1	Stage 2	Stage 3	Stage 4	Stage 5
						Leading state of the mark	1	1	1	1	0
Station state	0	0	1	1	0
						Inbound state	1	1	1	0	0
Out status	0	0	0	1	1

The scope of the invention is not limited to the above embodiments, and various modifications and changes may be made by those skilled in the art, and any modifications, improvements and equivalents within the spirit and principle of the invention should be included in the scope of the invention.