CN101830238A - Automatic speed regulation system of railway vehicle based on genetic algorithm and speed regulation method thereof - Google Patents
Automatic speed regulation system of railway vehicle based on genetic algorithm and speed regulation method thereof Download PDFInfo
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Abstract
The invention discloses an automatic speed regulation system of railway vehicles based on a genetic algorithm and a speed regulation method thereof, relating to the filed of rail way automatic speed regulation, and solving the problems of poor and inaccurate regulation results when railway automatic speed regulation equipment and a method which are constructed by applying the 'accuranvy control' theory. The automatic speed regulation system comprises weight measurement equipment, first speed measurement equipment, a control box, a weight measurement computer, a control computer, a drive power and a reduction gear. When a vehicle humps down from a hump, the weight measurement computer calculates out the weight of each coach and the number of the coaches through the weight measurement equipment and the first speed measurement equipment, the information is transmitted to the control computer, and then the control computer combines the speed measured by the speed measurement equipment on the basis of the information, controls the speed regulation equipment through the drive power, and the wheels of the vehicle is braked by the speed regulation equipment, thus achieving the purpose of regulating the speed of the vehicle. The invention can be applied to the field of railway vehicle speed regulation.
Description
Technical field
The present invention relates to a kind of automatic speed regulation system and speed regulating method of rolling stock.
Background technology
Railway is the main artery of national economy, and the rolling stock automatic speed regulation system is one of important means of marshaling yard realization automation.It mainly is to solve railway freight gravitation marshalling yard, particularly medium and small marshalling yard, the speed governing problem during the apportioned effort humping of cars.Since the last century the nineties, this system is in many local effects that all obtained good speed governing of using.This system automation degree is very high, has substituted the manual work that skate, rim brake etc. fall behind fully, has improved shipping efficient widely simultaneously, thereby has improved economic benefit and social benefit.
The process of hump humping of cars is that a characteristics of motion is very complicated, and change variable is a lot of, does not have the dynamic process that absolute unalterable rules can be followed.In order to realize the real-time automation control of this operation process, the computer controlled speed control device that always adopts carried out " point type target practice " speed regulation experiment to colluding car in the past.At first, require accurately to measure data such as the weight, resistance, speed, track clear length and the wind speed that collude car, wind direction; Then, computing machine colludes the accurate target exit velocity value that car should reach by speed control device by what " target practice equation " calculated, and the control retarder carries out real-time speed regulating to colluding car.But because actual situation about running into is Protean in this system, no matter finding the solution of data that record or equation, theoretical and reality often varies, require each controlling unit to accomplish that all thousand standards ten thousand are impossible really, and any data that record have mistakes and omissions, or any controlling unit has error, all can cause the failure of the final speed governing of The whole control system.Therefore, speed control device " point type target practice " purpose braking automation control system by " accuracy control " The Theory Construction, through for a long time, repeatedly, repetition test, out of reach expection operational effect all, the speed governing result of speed regulating method who uses this system is relatively poor, inaccurate.
Summary of the invention
When the objective of the invention is to solve the railway automatic retardation equipment of present application " accuracy control " The Theory Construction and method and carrying out automatic speed regulation to colluding car, there is poor as a result, the inaccurate problem of speed governing, a kind of automatic speed regulation system and speed regulating method thereof of the rolling stock based on genetic algorithm is provided.
Based on the automatic speed regulation system of the rolling stock of genetic algorithm, it comprises weight measuring equipment, first test the speed equipment, control box, check weighing computing machine, control computer, driving power and speed reduction gearing; First equipment that tests the speed is made up of N first tachogenerator, and speed reduction gearing is made up of N retarding device, and wherein N is a positive integer;
Described weight measuring equipment is used to obtain the total weight signal of vehicle, and described total weight signal is sent to control box; Described vehicle comprises that more piece connects the compartment that hangs over together;
Described first equipment that tests the speed is used to obtain the speed signal before the vehicle speed governing, and described speed signal is sent to control box;
Described control box is used for the total weight signal and the speed signal that receive are carried out analog-to-digital conversion, and the total weight signal after will changing and speed signal send to the check weighing computing machine; Also be used to receive controlling and driving amount V, and give driving power according to described controlling and driving amount V out-put supply drive signal from control computer;
Described check weighing computing machine, be used for calculating and obtaining the average weight in every joint compartment and the quantity in compartment according to the total weight signal that receives and speed signal, and will calculate the average weight in every joint compartment of acquisition, the quantity and the speed signal in compartment sends to control computer;
Described control computer is used for according to the average weight in the every joint compartment that receives, the quantity and the speed signal in compartment, utilizes fuzzy control theory to obtain controlling and driving amount V, and described controlling and driving amount V is exported to control box;
Described driving power is used for the operation according to the power driving signal control speed reduction gearing that receives;
Described speed reduction gearing is used for starting or stoping under driving power control.
The speed regulating method of the automatic speed regulation system of above-mentioned rolling stock based on genetic algorithm, its process is as follows:
The automatic speed regulation system of above-mentioned rolling stock based on genetic algorithm can also comprise second equipment that tests the speed, and described second equipment that tests the speed is made up of N second tachogenerator, and described speed reduction gearing is slowed down to push up by a plurality of on-the-spot hydraulic pressure and forms; Speed regulating method process based on this kind automatic speed regulation system is as follows:
Step 10, the control computer speed signal after according to genetic algorithm and the speed governing that receives, fuzzy control parameter table in the fuzzy control theory is optimized, and replaces fuzzy control parameter table in the fuzzy control theory with the fuzzy control parameter table after optimizing; The startup incremental data that control computer is also slowed down and pushed up according to the on-the-spot hydraulic pressure that receives, whether the unlatching quantity on the on-the-spot hydraulic pressure deceleration top of inspection speed reduction gearing is qualified: if qualified, then do not deal with; If nonconformity is then adjusted the unlatching quantity on on-the-spot hydraulic pressure deceleration top.
Automatic speed regulation system of the present invention and speed regulating method form based on the fuzzy control theory structure, can carry out real-time speed regulating control, adjusting speed accuracy height continuously to colluding the car rolling.
Description of drawings
Fig. 1 is the structural representation based on the automatic speed regulation system of the rolling stock of genetic algorithm of embodiment one; Fig. 2 is embodiment two and three the structural representation based on the automatic speed regulation system of the rolling stock of genetic algorithm; Fig. 3 is the structural representation based on the automatic speed regulation system of the rolling stock of genetic algorithm of embodiment four; Fig. 4 is the diagram of circuit of the speed regulating method of embodiment five; Fig. 5 is the diagram of circuit of the speed regulating method of embodiment eight; Fig. 6 is the diagram of circuit of embodiment nine.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1 present embodiment is described, the automatic speed regulation system based on the rolling stock of genetic algorithm of present embodiment, it comprises weight measuring equipment 1, first test the speed equipment 2, control box 3, check weighing computing machine 4, control computer 5, driving power 6 and speed reduction gearing 7; First equipment 2 that tests the speed is made up of N first tachogenerator, and speed reduction gearing 7 is made up of N retarding device, and wherein N is a positive integer, and N is a station track quantity;
Described weight measuring equipment 1 is used to obtain the total weight signal of vehicle, and described total weight signal is sent to control box 3; Described vehicle comprises that more piece connects the compartment that hangs over together;
Described first equipment 2 that tests the speed is used to obtain the speed signal before the vehicle speed governing, and described speed signal is sent to control box 3;
Described control box 3 is used for the total weight signal and the speed signal that receive are carried out analog-to-digital conversion, and the total weight signal after will changing and speed signal send to check weighing computing machine 4; Also be used to receive controlling and driving amount V, and give driving power 6 according to described controlling and driving amount V out-put supply drive signal from control computer 5;
Described check weighing computing machine 4, be used for calculating and obtaining the average weight in every joint compartment and the quantity in compartment according to the total weight signal that receives and speed signal, and will calculate the average weight in every joint compartment of acquisition, the quantity and the speed signal in compartment sends to control computer 5;
Described control computer 5 is used for according to the average weight in the every joint compartment that receives, the quantity and the speed signal in compartment, utilizes fuzzy control theory to obtain controlling and driving amount V, and described controlling and driving amount V is exported to control box 3;
Described driving power 6 is used for the operation according to the power driving signal control speed reduction gearing 7 that receives;
Described speed reduction gearing 7 is used for starting or stoping under driving power 6 controls.Described speed reduction gearing 7 starts the back vehicle is slowed down, and when stopping, slowing down and finishes.
Automatic speed regulation system of the present invention forms based on the fuzzy control theory structure, can carry out real-time speed regulating control, adjusting speed accuracy height continuously to colluding the car rolling.
The specific embodiment two: in conjunction with Fig. 2 present embodiment is described, different with embodiment one is, the automatic speed regulation system based on the rolling stock of genetic algorithm of present embodiment, it also comprises second equipment 8 that tests the speed, described second equipment 8 that tests the speed is made up of N second tachogenerator, and described speed reduction gearing 7 is slowed down to push up by a plurality of on-the-spot hydraulic pressure and forms;
Described second equipment 8 that tests the speed is used to obtain the speed signal after the vehicle speed governing, and the speed signal after the described speed governing is sent to control box 3;
Described control box 3 also be used for the speed signal after the speed governing that receives is carried out analog-to-digital conversion, and the speed signal after the speed governing after will changing sends to check weighing computing machine 4; Also be used for the quantity to be started on on-the-spot hydraulic pressure deceleration top is sent to control computer 5; The on-the-spot hydraulic pressure that also is used to the to receive speed reduction gearing 7 outputs actual startup incremental data on top that slows down, and described startup incremental data sent to control computer 5;
Described check weighing computing machine 4, the speed signal after the speed governing that also is used for receiving is transmitted to control computer 5;
Described control computer 5, also be used for according to the speed signal after genetic algorithm and the speed governing that receives, fuzzy control parameter table in the fuzzy control theory is optimized, and replaces fuzzy control parameter table in the fuzzy control theory with the fuzzy control parameter table after optimizing; Also be used for receiving the slow down startup incremental data on top of on-the-spot hydraulic pressure from control box (3), check that on-the-spot hydraulic pressure slows down the unlatching quantity on top whether with to wait to start quantity consistent:, then do not deal with if consistent; If inconsistent, then export on-the-spot hydraulic pressure deceleration top failure message;
Described speed reduction gearing 7 also is used for the startup incremental data on on-the-spot hydraulic pressure deceleration top is exported to control box 3.
In the present embodiment, the exit at last each controlling point, station track district installs second tachogenerator additional, as total system exit velocity monitoring point, according to it system's control result is made assessment, simultaneously also as system feedback information.
The specific embodiment three: in conjunction with Fig. 2 present embodiment is described, different with embodiment one or two is, the automatic speed regulation system based on the rolling stock of genetic algorithm of present embodiment, and it also comprises hand held console 9;
Described hand held console 9 is used for by controlling manually to control computer 5 output manual control signals;
Present embodiment is exported manual control signals by hand held console 9 to control box 3, control box 3 out-put supply drive signals are given driving power 6 then, control the operation of speed reduction gearing 7 by driving power 6 according to the power driving signal that receives again, thereby realized speed control manually vehicle.
The specific embodiment four: in conjunction with Fig. 3 present embodiment is described, different with embodiment three is, in the automatic speed regulation system based on the rolling stock of genetic algorithm of present embodiment, described control box 3 is made up of AD modular converter 3-1, CPU3-2, load module 3-3, output module 3-4, amplification module 3-5 and power supply;
Described AD modular converter 3-1 be used for each signal that receives is carried out analog-to-digital conversion, and each signal after will changing sends to CPU3-2;
Described CPU3-2 is used to receive each signal of AD modular converter 3-1 output, and with described each signal forwarding to check weighing computing machine 4;
Described load module 3-3, the on-the-spot hydraulic pressure that is used to the to receive speed reduction gearing 7 outputs startup incremental data on top that slows down, and the slow down startup incremental data on top of described on-the-spot hydraulic pressure sent to control computer 5;
Described output module 3-4 is used to receive the controlling and driving amount V from control computer 5, and described controlling and driving amount V is sent to amplification module 3-5;
Described amplification module 3-5 is used for described controlling and driving amount V is amplified, and the controlling and driving amount V after will amplifying then is forwarded to driving power 6;
Described power supply is used for providing working power to AD modular converter 3-1, CPU3-2, load module 3-3, output module 3-4 and amplification module 3-5.
The specific embodiment five: in conjunction with Fig. 4 present embodiment is described, present embodiment is the speed regulating method based on the automatic speed regulation system of the rolling stock of genetic algorithm of embodiment one, and its process is as follows:
Total weight signal and speed signal that step 3,3 pairs of control boxs receive carry out analog-to-digital conversion, and total weight signal and speed signal after will changing then send to check weighing computing machine 4;
Automatic speed-regulating method of the present invention forms based on the fuzzy control theory structure, can carry out real-time speed regulating control, adjusting speed accuracy height continuously to colluding the car rolling.
The specific embodiment six:Present embodiment is the further specifying based on the speed regulating method of the automatic speed regulation system of the rolling stock of genetic algorithm to embodiment five, the quantity and the speed signal in the average weight described in the step 5, compartment according to every joint compartment, the detailed process of utilizing fuzzy control theory to obtain controlling and driving amount V is:
Make G represent the average weight in every joint compartment, Uint represents the speed of vehicle at the controlling point inlet, also is the speed before the speed governing, and Uk represents the speed of starting to control, and R represents the fuzzy control parameter table, and then controlling and driving amount V obtains according to following formula:
V=(G*(Uint-Uk))*R。
The specific embodiment seven, present embodiment be to embodiment six based on the further specifying of the speed regulating method of the automatic speed regulation system of the rolling stock of genetic algorithm, wherein,
G={0,1,2,3,4}, the average weight in promptly every joint compartment is divided into 5 class:
G=0 represents that weight information is lost or the weight measuring equipment fault; G=1 represents that the average weight in every joint compartment is less than 30 tons; G=2 represents that the average weight in every joint compartment is between 30 tons ~ 45 tons; G=3 represents that the average weight in every joint compartment is between 45 tons ~ 60 tons; G=4 represents that the average weight in every joint compartment is greater than 60 tons;
Uint-Uk={0,1,2}, promptly vehicle is divided into 3 class in the speed of controlling point inlet:
Uint-Uk=0 represents the speed mistake or the breakdown of equipment of testing the speed; Uint-Uk=1 represents Uint〉Uk, promptly entrance velocity is greater than the speed of starting to control; Uint-Uk=2 represents Uint＜=Uk, and promptly entrance velocity is less than the speed of starting to control;
Then controlling and driving amount V is divided into 3 class, i.e. V={0, and 1,2}:
V=0 represents fault-tolerant processing; V=1 represents controlling and driving; V=2 represents not control.
R is summed up by manual control practice experience and expert, deposits in the computing machine inquiry during for control in real time in.Also to consider a number, track occupied state in actual applications and manually control principles such as having precedence over automatic guidance.
The specific embodiment eight:In conjunction with Fig. 5 present embodiment is described, as implement the speed regulating method of the automatic speed regulation system of the described rolling stock based on genetic algorithm of mode two, the automatic speed regulation system of described rolling stock based on genetic algorithm also comprises second equipment 8 that tests the speed, described second equipment 8 that tests the speed is made up of N second tachogenerator, and the process of described speed regulating method is as follows:
Total weight signal and speed signal that step 3,3 pairs of control boxs receive carry out analog-to-digital conversion, and total weight signal and speed signal after will changing then send to check weighing computing machine 4;
Speed signal after step 8,3 pairs of speed governing that receive of control box carries out analog-to-digital conversion, and the speed signal after the speed governing after will changing sends to check weighing computing machine 4; The startup incremental data on the on-the-spot hydraulic pressure deceleration top that control box 3 also will receive sends to control computer 5;
Step 10, control computer 5 speed signal after according to genetic algorithm and the speed governing that receives, fuzzy control parameter table in the fuzzy control theory is optimized, and replaces fuzzy control parameter table in the fuzzy control theory with the fuzzy control parameter table after optimizing; Control computer 5 is gone back the startup incremental data that slows down and push up according to the on-the-spot hydraulic pressure that receives, and whether the unlatching quantity on the on-the-spot hydraulic pressure deceleration top of inspection speed reduction gearing 7 is qualified: if qualified, then do not deal with; If nonconformity is then adjusted the unlatching quantity on on-the-spot hydraulic pressure deceleration top.
The specific embodiment nine, in conjunction with Fig. 6 present embodiment is described, present embodiment is the further qualification based on the speed regulating method of the automatic speed regulation system of the rolling stock of genetic algorithm to embodiment eight, described in the step 10 according to the speed signal after genetic algorithm and the speed governing that receives, fuzzy control parameter table in the fuzzy control theory is optimized, and is with the detailed process of the fuzzy control parameter table in the fuzzy control parameter table replacement fuzzy control theory after optimizing:
A1, parameter fuzzyization make G represent the average weight in every joint compartment, and Uout represents the speed of vehicle in the controlling point outlet, also is the speed after the speed governing, and Uk represents the speed of starting to control, and R represents the fuzzy control parameter table, and the speed signal Uout after the speed governing is divided into 3 class:
Uout-Uk=1 represents that exit velocity is less than 3 kilometers/hour; Uout-Uk=2 represents that exit velocity is greater than 5 kilometers/hour; Uout-Uk=0 represents exit velocity between 3 kilometers/hour ~ 5 kilometers/hour, i.e. Uout-Uk={0,1,2};
A2, each controlled variable among the fuzzy control parameter table R is carried out code Design, with five each controlled variable of binary code representation, wherein one is control bit, represents the position for parameter for all the other four, and all controlled variable are concatenated into one " chromosome "; According to the method described above, generate many " chromosomes " at random, described many " chromosome " constitutes one " population ", calculates the degree of adaptability that is somebody's turn to do each " chromosome " in " population ";
A3, current " population " selected hereditary computing, promptly calculate and be somebody's turn to do each " chromosome " selecteed probability P s in " population ", and probability P s preserved all the other " chromosomes " in the deletion " population " as optimum individual greater than " chromosome " of threshold value; Upgrade " population "; Wherein, the value of described threshold value for configuring according to actual conditions;
A4, current " population " carried out the crisscross inheritance computing, promptly calculate should " population " crossover probability Pc, then with this probability P c at random single-point intersect two " chromosome "; Upgrade " population ";
A5, current " population " carried out the mutation genetic computing, promptly calculate should " population " in the variation probability P m of each " chromosome ", and with " chromosome " in this probability P m random variation " population "; Upgrade " population ";
The degree of adaptability of each " chromosome " in A6, the calculating current " population " is judged and should " population " whether be satisfied abort criterion: if then carry out A7; Otherwise, return and carry out A3;
A7, select optimum individual in current " population " as optimizing the result, and the fuzzy control parameter table in the fuzzy control theory is upgraded replacement with this optimum individual.
Described degree of adaptability is meant that in computation optimization colony each individuality might reach or approach the good degree of optimal solution, and the individual inheritance that degree of adaptability is high more is big more to follow-on probability, otherwise more little.Population evolution is exactly to be foundation with each individual degree of adaptability in the colony, by repetitive process, constantly seeks out the bigger individuality of degree of adaptability, and the optimal solution or the suboptimum that finally obtain problem are separated.The function of tolerance ideal adaptation degree is called fitness function.
Here the opposite number that adopts the poor absolute value sum of system outlet speed Uout and setting value Uk is as fitness function, promptly
Fitness value:
Wherein, Si is the degree of adaptability of i individuality in the colony, i=1, and 2 ..., M, M are the sum of " chromosome " in " population ".
The optimal design of fuzzy control parameter table R realizes that by genetic manipulation described genetic manipulation comprises selects hereditary computing, crisscross inheritance computing and three kinds of operations of mutation genetic computing, wherein, selects the computing formula of hereditary computing to be:
Wherein, n is a population size, and Ps represents i individual selecteed probability;
The computing formula of crisscross inheritance computing is:
Wherein, K is an iterations,
Be the K time crossover probability value after the iterative computation,
Be the K+1 time crossover probability value after the iterative computation, K=0 wherein, 1,2 ...,
Be the crossover probability initial value, it is a given value, and W is a rate of change;
The computing formula of mutation genetic computing is:
Wherein,
Be the K time variation probable value after the iterative computation,
Be the K+1 time variation probable value after the iterative computation, K=0 wherein, 1,2 ...,
Be variation probability initial value, it is a given value.
Speed regulating method of the present invention, utilize genetic algorithm that the controlled variable of this system is carried out the adaptive optimization design, enable the variation automatic compensation controlled variable along with external conditions, thereby design the fuzzy control model with self-learning ability, system is in the optimal control state all the time.
Claims (9)
1. based on the automatic speed regulation system of the rolling stock of genetic algorithm, it is characterized in that it comprises weight measuring equipment (1), first test the speed equipment (2), control box (3), check weighing computing machine (4), control computer (5), driving power (6) and speed reduction gearing (7); First equipment (2) that tests the speed is made up of N first tachogenerator, and speed reduction gearing (7) is made up of N retarding device, and wherein N is a positive integer;
Described weight measuring equipment (1) is used to obtain the total weight signal of vehicle, and described total weight signal is sent to control box (3); Described vehicle comprises that more piece connects the compartment that hangs over together;
Described first equipment (2) that tests the speed is used to obtain the speed signal before the vehicle speed governing, and described speed signal is sent to control box (3);
Described control box (3) is used for the total weight signal and the speed signal that receive are carried out analog-to-digital conversion, and the total weight signal after will changing and speed signal send to check weighing computing machine (4); Also be used for receiving controlling and driving amount V, and give driving power (6) according to described controlling and driving amount V out-put supply drive signal from control computer (5);
Described check weighing computing machine (4), be used for calculating and obtaining the average weight in every joint compartment and the quantity in compartment according to the total weight signal that receives and speed signal, and will calculate the average weight in every joint compartment of acquisition, the quantity and the speed signal in compartment sends to control computer (5);
Described control computer (5) is used for according to the average weight in the every joint compartment that receives, the quantity and the speed signal in compartment, utilizes fuzzy control theory to obtain controlling and driving amount V, and described controlling and driving amount V is exported to control box (3);
Described driving power (6) is used for the operation according to the power driving signal control speed reduction gearing (7) that receives;
Described speed reduction gearing (7) is used for starting or stoping under driving power (6) control.
2. the automatic speed regulation system of the rolling stock based on genetic algorithm according to claim 1, it is characterized in that it also comprises second equipment (8) that tests the speed, described second equipment (8) that tests the speed is made up of N second tachogenerator, and described speed reduction gearing (7) is slowed down to push up by a plurality of on-the-spot hydraulic pressure and forms;
Described second equipment (8) that tests the speed is used to obtain the speed signal after the vehicle speed governing, and the speed signal after the described speed governing is sent to control box (3);
Described control box (3) also is used for the speed signal after the speed governing that receives is carried out analog-to-digital conversion, and the speed signal after the speed governing after will changing sends to check weighing computing machine (4); Also be used for the quantity to be started on on-the-spot hydraulic pressure deceleration top is sent to control computer (5); The on-the-spot hydraulic pressure that also is used to receive speed reduction gearing (7) the output actual startup quantity on top of slowing down, and described startup quantity sent to control computer (5);
Described check weighing computing machine (4), the speed signal after the speed governing that also is used for receiving is transmitted to control computer (5);
Described control computer (5), also be used for according to the speed signal after genetic algorithm and the speed governing that receives, fuzzy control parameter table in the fuzzy control theory is optimized, and replaces fuzzy control parameter table in the fuzzy control theory with the fuzzy control parameter table after optimizing; Also be used for receiving the slow down startup quantity on top of on-the-spot hydraulic pressure from control box (3), check that on-the-spot hydraulic pressure slows down the unlatching quantity on top whether with to wait to start quantity consistent:, then do not deal with if consistent; If inconsistent, then export on-the-spot hydraulic pressure deceleration top failure message;
Described speed reduction gearing (7) also is used for the startup quantity on on-the-spot hydraulic pressure deceleration top is exported to control box (3).
3. the automatic speed regulation system of the rolling stock based on genetic algorithm according to claim 1 is characterized in that it also comprises hand held console (9);
Described hand held console (9) is used for by controlling manually to control computer (5) output manual control signal;
Control computer (5) also is used for giving control box (3) according to the manual control signal output controlling and driving amount V that receives.
4. the automatic speed regulation system of the rolling stock based on genetic algorithm according to claim 2 is characterized in that described control box (3) is by AD modular converter (3-1), CPU(3-2), load module (3-3), output module (3-4), amplification module (3-5) and power supply form;
Described AD modular converter (3-1) be used for each signal that receives is carried out analog-to-digital conversion, and each signal after will changing sends to CPU(3-2);
Described CPU(3-2), be used to receive each signal of AD modular converter (3-1) output, and with described each signal forwarding to check weighing computing machine (4);
Described load module (3-3), the on-the-spot hydraulic pressure that is used to receive speed reduction gearing (7) the output startup quantity on top of slowing down, and the slow down startup quantity on top of described on-the-spot hydraulic pressure sent to control computer (5);
Described output module (3-4) is used for receiving the controlling and driving amount V from control computer (5), and described controlling and driving amount V is sent to amplification module (3-5);
Described amplification module (3-5) is used for described controlling and driving amount V is amplified, and the controlling and driving amount V after will amplifying then is forwarded to driving power (6);
Described power supply is used for to AD modular converter (3-1), CPU(3-2), load module (3-3), output module (3-4) and amplification module (3-5) provide working power.
5. the speed regulating method of the automatic speed regulation system of the rolling stock based on genetic algorithm as claimed in claim 1 is characterized in that its process is as follows:
Step 1, weight measuring equipment (1) is set on the hump of marshalling yard, in hump to the entrance of each the bar station track between the district of station track one first tachogenerator is set, and on each bar station track, a speed reduction gearing (7) is set;
Step 2, at first utilize weight measuring equipment (1) to obtain the total weight signal of vehicle, and this total weight signal is sent to control box (3); Make vehicle rolling downwards on hump then,, utilize to be positioned at first of this entrance equipment (2) that tests the speed and to obtain the current speed signal of vehicle, and this speed signal is sent to control box (3) when vehicle during through the inlet of a certain station track;
Step 3, control box (3) carry out analog-to-digital conversion to total weight signal and the speed signal that receives, and total weight signal after will changing then and speed signal send to check weighing computing machine (4);
Step 4, check weighing computing machine (4) calculate according to the total weight signal and the speed signal that receive, obtain the average weight in every joint compartment and the quantity in compartment, will calculate the average weight in the every joint compartment that obtains then, the quantity and the speed signal in compartment sends to control computer (5);
Step 5, control computer (5) are utilized fuzzy control theory to obtain controlling and driving amount V, and described controlling and driving amount V are exported to control box (3) according to the average weight in every joint compartment of vehicle, the quantity and the speed signal in compartment;
Step 6, control box (3) are given driving power (6) according to described controlling and driving amount V out-put supply drive signal, driving power (6) starts according to the speed reduction gearing (7) that the power driving signal control that receives is positioned on this trand road then, and then realizes vehicle is slowed down.
6. the speed regulating method of the automatic speed regulation system of the rolling stock based on genetic algorithm according to claim 5, it is characterized in that the average weight according to every joint compartment of vehicle described in the step 5, the quantity and the speed signal in compartment, the detailed process of utilizing fuzzy control theory to obtain controlling and driving amount V is:
Make G represent the average weight in every joint compartment, Uint represents the speed of vehicle at the controlling point inlet, also is the speed before the speed governing, and Uk represents the speed of starting to control, and R represents the fuzzy control parameter table, and then controlling and driving amount V obtains according to following formula:
V=(G*(Uint-Uk))*R。
7. the speed regulating method of the automatic speed regulation system of the rolling stock based on genetic algorithm according to claim 6 is characterized in that:
G={0,1,2,3,4}, the average weight in promptly every joint compartment is divided into 5 class:
G=0 represents that weight information is lost or the weight measuring equipment fault; G=1 represents that the average weight in every joint compartment is less than 30 tons; G=2 represents that the average weight in every joint compartment is between 30 tons ~ 45 tons; G=3 represents that the average weight in every joint compartment is between 45 tons ~ 60 tons; G=4 represents that the average weight in every joint compartment is greater than 60 tons;
Uint-Uk={0,1,2}, promptly vehicle is divided into 3 class in the speed of controlling point inlet:
Uint-Uk=0 represents the speed mistake or the breakdown of equipment of testing the speed; Uint-Uk=1 represents Uint〉Uk, promptly entrance velocity is greater than the speed of starting to control; Uint-Uk=2 represents Uint＜=Uk, and promptly entrance velocity is less than the speed of starting to control;
Then controlling and driving amount V is divided into 3 class, i.e. V={0, and 1,2}:
V=0 represents fault-tolerant processing; V=1 represents controlling and driving; V=2 represents not control.
8. the speed regulating method of the automatic speed regulation system of the rolling stock based on genetic algorithm as claimed in claim 2 is characterized in that its process is as follows:
Step 1, weight measuring equipment (1) is set on the hump of marshalling yard, in hump to the entrance of each the bar station track between the district of station track one first tachogenerator is set, and a plurality of on-the-spot hydraulic pressure decelerations top is set on each bar station track, in the exit of each bar station track one second tachogenerator is installed;
Step 2, at first utilize weight measuring equipment (1) to obtain the total weight signal of vehicle, and this total weight signal is sent to control box (3); Make vehicle rolling downwards on hump then, when vehicle passes through the inlet of a certain station track, utilize first tachogenerator that is positioned at this entrance to obtain the current speed signal of vehicle, and this speed signal is sent to control box (3);
Step 3, control box (3) carry out analog-to-digital conversion to total weight signal and the speed signal that receives, and total weight signal after will changing then and speed signal send to check weighing computing machine (4);
Step 4, check weighing computing machine (4) calculate according to the total weight signal and the speed signal that receive, obtain the average weight in every joint compartment and the quantity in compartment, will calculate the average weight in the every joint compartment that obtains then, the quantity and the speed signal in compartment sends to control computer (5);
Step 5, control computer (5) are utilized fuzzy control theory to obtain controlling and driving amount V, and described controlling and driving amount V are exported to control box (3) according to the average weight in every joint compartment, the quantity and the speed signal in compartment;
Step 6, control box (3) are given driving power (6) according to described controlling and driving amount V out-put supply drive signal, and driving power (6) slows down to vehicle according to the power driving signal control speed reduction gearing (7) that receives then; Speed reduction gearing (7) is also exported to control box (3) with the startup incremental data on on-the-spot hydraulic pressure deceleration top;
Step 7, when vehicle during through the outlet in this trand road, utilize the speed signal after second tachogenerator that is positioned at this exit obtains the vehicle speed governing, and the speed signal after this speed governing be sent to control box (3);
Step 8, control box (3) speed signal after to the speed governing that receives carries out analog-to-digital conversion, and the speed signal after the speed governing after will changing sends to check weighing computing machine (4); The startup incremental data on the on-the-spot hydraulic pressure deceleration top that control box (3) also will receive sends to control computer (5);
Step 9, check weighing computing machine (4) speed signal after with the speed governing that receives is transmitted to control computer (5);
Step 10, control computer (5) speed signal after according to genetic algorithm and the speed governing that receives, fuzzy control parameter table in the fuzzy control theory is optimized, and replaces fuzzy control parameter table in the fuzzy control theory with the fuzzy control parameter table after optimizing; Control computer (5) is gone back the startup incremental data that slows down and push up according to the on-the-spot hydraulic pressure that receives, and whether the unlatching quantity on the on-the-spot hydraulic pressure deceleration top of inspection speed reduction gearing (7) is qualified: if qualified, then do not deal with; If nonconformity is then adjusted the unlatching quantity on on-the-spot hydraulic pressure deceleration top.
9. the speed regulating method of the automatic speed regulation system of the rolling stock based on genetic algorithm according to claim 8, it is characterized in that described in the step 10 according to the speed signal after genetic algorithm and the speed governing that receives, fuzzy control parameter table in the fuzzy control theory is optimized, and is with the detailed process of the fuzzy control parameter table in the fuzzy control parameter table replacement fuzzy control theory after optimizing:
A1, parameter fuzzyization make G represent the average weight in every joint compartment, and Uout represents the speed of vehicle in the controlling point outlet, also is the speed after the speed governing, and Uk represents the speed of starting to control, and R represents the fuzzy control parameter table, and the speed signal Uout after the speed governing is divided into 3 class:
Uout-Uk=1 represents that exit velocity is less than 3 kilometers/hour; Uout-Uk=2 represents that exit velocity is greater than 5 kilometers/hour; Uout-Uk=0 represents exit velocity between 3 kilometers/hour ~ 5 kilometers/hour, i.e. Uout-Uk={0,1,2};
A2, each controlled variable among the fuzzy control parameter table R is carried out code Design, with five each controlled variable of binary code representation, wherein one is control bit, represents the position for parameter for all the other four, and all controlled variable are concatenated into one " chromosome "; According to the method described above, generate many " chromosomes " at random, described many " chromosome " constitutes one " population ", calculates the degree of adaptability that is somebody's turn to do each " chromosome " in " population ";
A3, current " population " selected hereditary computing, promptly calculate and be somebody's turn to do each " chromosome " selecteed probability P s in " population ", and probability P s preserved all the other " chromosomes " in the deletion " population " as optimum individual greater than " chromosome " of threshold value; Upgrade " population ";
A4, current " population " carried out the crisscross inheritance computing, promptly calculate should " population " crossover probability Pc, then with this probability P c at random single-point intersect two " chromosome "; Upgrade " population ";
A5, current " population " carried out the mutation genetic computing, promptly calculate should " population " in the variation probability P m of each " chromosome ", and with " chromosome " in this probability P m random variation " population "; Upgrade " population ";
The degree of adaptability of each " chromosome " in A6, the calculating current " population " is judged and should " population " whether be satisfied abort criterion: if then carry out A7; Otherwise, return and carry out A3;
A7, select optimum individual in current " population " as optimizing the result, and the fuzzy control parameter table in the fuzzy control theory is upgraded replacement with this optimum individual.
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