机车自动驾驶技术研究与应用

尚敬; 刘勇; 江帆

doi:10.13890/j.issn.1000-128X.2023.01.001

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机车自动驾驶技术研究与应用

专稿 | 更新时间：2024-08-02

- 机车自动驾驶技术研究与应用
- Research and application of locomotive automatic operation technology
- 机车电传动 2023年第1期页码：1-12
- 作者机构：
  
  株洲中车时代电气股份有限公司，湖南株洲 412001
- 作者简介：
  
  尚　敬（1977—），男，博士，正高级工程师，研究方向为牵引控制技术、自动驾驶技术；E-mail: shangjing@csrzic.com
- 基金信息：
  
  中国中车科技研究开发计划重点项目(2022CTB143)
- DOI：10.13890/j.issn.1000-128X.2023.01.001
  中图分类号： U268.4
- 纸质出版日期：2023-01-10，
  
  收稿日期：2022-11-09，
  
  修回日期：2022-12-20，
- 稿件说明：
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尚敬, 刘勇, 江帆. 机车自动驾驶技术研究与应用[J]. 机车电传动, 2023(1): 1-12.

SHANG Jing, LIU Yong, JIANG Fan. Research and application of locomotive automatic operation technology[J].Electric Drive for Locomotives, 2023(1): 1-12.
尚敬, 刘勇, 江帆. 机车自动驾驶技术研究与应用[J]. 机车电传动, 2023(1): 1-12. DOI： 10.13890/j.issn.1000-128X.2023.01.001.

SHANG Jing, LIU Yong, JIANG Fan. Research and application of locomotive automatic operation technology[J].Electric Drive for Locomotives, 2023(1): 1-12. DOI： 10.13890/j.issn.1000-128X.2023.01.001.

摘要

当前轨道交通正朝着绿色、智能的方向发展，自动驾驶可进一步降低列车运行能耗，提升列车运行效率、消除不同司机操纵差异、提升列车运行一致性，是未来路网条件下列车有序协同运行的控制基础，也是轨道交通智能化方向技术发展的典型代表。文章分析了机车自动驾驶研究的国内外现状和技术难点，阐述了满足我国干线机车运用需求的机车自动驾驶系统整体架构，设计了有人值守的机车自动驾驶方案，详细介绍了列车运行规划与速度控制、列车纵向动力学仿真、多传感器融合感知、列车系统运行仿真等关键技术，并对机车自动驾驶技术未来的发展方向进行了思考和展望。基于上述技术的机车自动驾驶系统已在多个铁路局和铁路公司装车运用并取得显著的应用效果。该系统可支持不同的编组和载重，可适配不同的车型、控制系统、信号系统，具有良好的通用性和可推广性。

Abstract

In the current development tide of rail transit towards green and intelligence

automatic operation technology plays a role in the control basis for the orderly and coordinated operation of trains under the future railway network conditions

and emerges as a typical representative of the rail transit development in the field of intelligent technology

thanks to the benefits to further improving the efficiency while reducing the energy consumption of train operation

eliminating the operation differences among drivers

and raising the consistency of train operation. This paper analyzed the current development and technical difficulties of locomotive automatic operation research in China and abroad

elaborated the overall architecture of the locomotive automatic operation system to meet the application requirements on the trunk lines in China

proposed a manned locomotive automatic operation design

with details on the key technologies such as train operation planning and speed control

train simulation in longitudinal dynamics

multi-sensor fusion perception

operation simulation of train systems

and was concluded with ideas and prospects on the future development trends of automatic locomotive operation technologies. The locomotive automatic operation system based on the above-mentioned technologies has been used in many CR regional groups and turned out with remarkable application results. The system can support different formations and loads

and is adaptive to different car models

control systems

and signal systems

demonstrating good universality and popularization.

关键词

机车自动驾驶规划与控制纵向动力学系统仿真重载列车

Keywords

locomotiveautomatic operationplanning and controllongitudinal dynamicssystem simulationheavy-haul train

references

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