Research On Automatic Operation Considering Longitudinal Impulse Of Heavy Haul Trains

As the tractive tonnage of heavy haul trains continues to rise,the requirements for the quality of train operation during transport also continue to improve.In order to achieve safe,efficient and energy-saving heavy haul train operation,automatic driving control of heavy haul trains will become an important method of train operation control.Due to the long formation of heavy haul trains,high load capacity,the complexity of the longitudinal section of the lines and the strong non-linear characteristics of the train equipment,the safe automatic train driving control becomes a serious challenge.In the dissertation,from the perspective of longitudinal dynamics of heavy haul trains,and based on the law of manual manipulation,the research establishes an automatic driving control model considering the longitudinal force safety constraint of heavy haul trains,the specific research contents are as follows.(1)Based on the actual situation of heavy haul train operation in China,the longitudinal dynamics simulation model of heavy haul trains is established,the validity and accuracy in the calculation of the model under braking stop and cycle braking conditions are verified according to the actual test data of heavy haul lines in China.(2)Research and summarise the driver manipulation rules for 20,000 ton heavy haul trains in China,and utilize the established longitudinal dynamics simulation model to study the influence of train manipulation methods on the longitudinal dynamics behaviour of heavy haul trains during starting on steep slope upward ramps and passing at slope change points of large gradient.For 30,000 ton heavy haul combined trains,further study the longitudinal force characteristics and related manipulation influence under braking conditions.(3)To establish an automatic driving control model for heavy haul trains according to driver manipulation rules,the model includes a real-time planning process for safe target speed based on the maximum speed curve,a target speed tracking control process that considers longitudinal force control and energy saving,and a cycle braking manipulation optimization process that combines multiple pneumatic braking-release processes with genetic algorithm optimization.In order to achieve a good multi-objective control effect and small real-time computation,the model uses the iterative back-calculation algorithm of the braking curve based on the multi-points air braking model,the train longitudinal force penalty control method and the empirical simplified relational expression for multiple pneumatic braking-release during the optimization of the cycle braking on long downhill slopes.(4)The actual heavy haul line section in China was selected and a series of simulation studies were carried out to compare the key parameters of the operation control process of the 20,000 ton combined train of "1+1+EOT",the optimization of the long downhill cycle braking and the comparison with the actual operation data of the line section.The simulation results show that the automatic driving level of the control model established in the dissertation is close to the experienced heavy haul train drivers in the field after the key control parameters are reasonably matched and set,and the control model has advantages in longitudinal force constraint control and efficient train operation.