CN102285364A - Distributed train concurrent dispatching method based on train priorities - Google Patents
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- CN102285364A CN102285364A CN2011101111807A CN201110111180A CN102285364A CN 102285364 A CN102285364 A CN 102285364A CN 2011101111807 A CN2011101111807 A CN 2011101111807A CN 201110111180 A CN201110111180 A CN 201110111180A CN 102285364 A CN102285364 A CN 102285364A
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Abstract
The invention discloses a distributed train concurrent dispatching method based on train priorities, which comprises signal machine dispatching, switch machine dispatching and track circuit dispatching. By correlating trains with priorities, the distributed train concurrent dispatching method based on the train priorities solves the concurrent conflict of a system. The method for determining the priorities views track sections and the like occupied and obtained by the trains during running as limited resources and therefore the trains are endowed with different static priorities according to the importance of the resources owned by the trains in a line and in combination with requirements on real time. In combination with dynamic properties, dynamic priorities are determined by comprehensively considering relevant factors according to a running plan to realize the dynamic allocation of the resources and the concurrent running of the trains.
Description
Technical field
The invention belongs to train scheduling and control technology field, relate to a kind of dispatching method of train, be specifically related to a kind of distributing train concurrent scheduling method based on train priority.
Background technology
Railway is because big, the cheap and comparatively safe advantage of its freight volume becomes the preferential mode of transportation of selecting of people gradually in recent years.Therefore, under the prerequisite that guarantees train operating safety, how to improve the speed and the efficient of train, become the focus of research.As ensureing the train critical system of interior safe operation AT STATION, the station interlocking system always is the focus that the researchist pays close attention to.Computer technology has been introduced into since the railway interlock system before 30 years, is bringing into play enormous function aspect the guarantee safe train operation.Full distributing railway interlock system is emphasized the dispersion of equipment at physical location, and by the network interconnection, interlock program is comprised in each equipment between the equipment, and system is carrying out needing correct each equipment state of understanding in real time when route is handled.Therefore, train in full distributing railway interlock system during concurrent running, can cause many discrete events concurrent and asynchronous execution generation conflict and obscure, influence the safety and the reliability of train operation.
Summary of the invention
The purpose of this invention is to provide a kind of distributing train concurrent scheduling method based on train priority, solved existing train in full distributing railway interlock system during concurrent running, can cause the conflict that the concurrent and asynchronous execution of many discrete events produces and obscure, influence the safety and the reliability problems of train operation.
The technical solution adopted in the present invention is that a kind of distributing train concurrent scheduling method based on train priority comprises signal scheduling, switch machine scheduling and track circuit scheduling.
Characteristics of the present invention also are,
Signal scheduling wherein, specifically implement according to following steps:
Step 1: signal is gathered the train application on the train rail, according to this locality storage data and Train Dynamic priority method of calculating, calculates the dynamic priority of each train;
Step 2: according to priority size ordering, select the train of priority maximum to judge the number of processes of this route: if then warn deadlock whether greater than N to each train; Otherwise inquiry route table if there is a suitable route, then sends solicitation message to the equipment on the route;
Step 3: wait for the response message of application equipment, relatively whether the static priority of other trains is greater than handling train: if exist, decline this application; If there is no, execution in step 4 then;
Step 4: the response message that has judged whether to receive all devices: if then send locking message; Otherwise behind certain hour, repeating step 1 is to step 6;
Step 5: judge the success of whether communicating by letter of locking message: if signal is open, train sails into; Otherwise, forward step 2 to;
Step 6: signal is open, and train sails into.
Train Dynamic priority method of calculating in the step 1 in the signal scheduling wherein, specifically implement: be divided into static priority and dynamic priority according to following steps, static priority refers to priority and determines along with determining of train task, before the train task termination, continue constant, by type Si decision under the emergency state Ai of the shared track circuit significance level Zi of train, task, the train, their weights separately are w
1, w
2, w
3, and w
1+ w
2+ w
3=1, p
s=w
1Zi+w
2Ai+w
3Si; Dynamic priority refers to that its value is not changeless in the train driving process, with the priority of its follow-up train on the circuit, the variation that the train remaining runtime can influence its value, p
d=k
1p
s+ k
2G (d)+k
3p
s(q, Q), wherein: Ps is the static priority of train; Pd is the dynamic priority of train; G (d) is a function of weighing the train delays time; p
s(q Q) is static priority with q train on the circuit.
Switch machine scheduling wherein, specifically implement according to following steps:
Step 1: the information that switch machine received signal machine sends;
Step 2:, judge type of message: if locking message then forwards step 5 to according to the message that step 1 is received; If reservation message is then done following operation: judge whether it is many solicitation message: if then select the processing that begins of priority maximum, for other then transmission refuse information; If not, directly handle this message, idle message of return signal machine;
Step 3: switch machine is replied idle message according to the judged result that obtains of step 2;
Step 4: wait for locking message, if during receive other route application with the priority ratio of handling route last time: if equate and claimed condition consistent, then handle application, simultaneously idle message of return signal machine; If new solicitation message priority is bigger, then abandon the route of last time, select this route, simultaneously idle message of return signal machine; If new solicitation message priority is less then refuse new application, busy message of return signal machine;
Step 5: after switch machine is received locking message, transformation condition;
Step 6: switch machine locking self, while return signal machine is locking message.
Track circuit scheduling wherein, specifically implement according to following steps:
When track circuit is idle: after the track circuit under the idle condition is received the reservation message of signal, at first the priority according to each message sorts, select bigger the handling of priority, and the locking message of wait this application, if locking message is arranged, track circuit just oneself state is set to locking states, simultaneously, track circuit is replied locking message to signal, and signal is revised the state of this section track circuit in the interlocking table; When track circuit is had much to do: then directly refuse the route application.
The invention has the beneficial effects as follows,
1. by having solved the concurrency conflict problem of system for the train associated priority.The Determination of priority method is regarded limited resources as with occupying in the train travelling process and obtaining orbital segment etc., thereby has mainly had the significance level difference of resource according to train in the circuit, and requires to give its different static priority in conjunction with real-time.In conjunction with dynamic characteristics, take all factors into consideration related factors according to operational plan and determine dynamic priority, realize the concurrent running of dynamic allocation of resources and train.
2. the work-based logic to each key equipment in this system designs, and all is that equipment itself is realized to all methods of control actv., thereby has guaranteed the modularization and the dispersing characteristic of equipment.
3. signal calculates its dynamic priority to the route application of receiving and sorts according to its size.Signal sends message and divides two classes: predetermined message and lockout message.After equipment is received predetermined message, there is a surge time, seizes with the application that has higher priority.
4. can switch machine and track circuit carry out the ordering of priority size for predetermined message, and then judge and satisfy this message.During waiting for lockout message, do not wait until lockout message or the application of higher priority is arranged, can abandon this predetermined message.
Description of drawings
Fig. 1 is the signal processing logic diagram of circuit that the present invention is based on the distributing train concurrent scheduling method of train priority;
Fig. 2 is the switch machine processing logic diagram of circuit that the present invention is based on the distributing train concurrent scheduling method of train priority;
Fig. 3 is the track circuit processing logic diagram of circuit that the present invention is based on the distributing train concurrent scheduling method of train priority;
Fig. 4 is the concurrent example that travels of first kind of train of distributing train concurrent scheduling method that the present invention is based on train priority;
Fig. 5 is the concurrent example that travels of second kind of train of distributing train concurrent scheduling method that the present invention is based on train priority.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
The present invention is based on the distributing train concurrent scheduling method of train priority, comprise signal scheduling, switch machine scheduling and track circuit scheduling.
(1) working process of signal, as shown in Figure 1, specifically implement according to following steps:
Step 1: signal is gathered a plurality of train applications on the train rail, according to this locality storage data and Train Dynamic priority method of calculating, calculates the dynamic priority of each train;
Train Dynamic priority method of calculating wherein is divided into static priority and dynamic priority,
Static priority refers to priority to be determined along with determining of train task, continues constant before the train task termination.Its influence factor relies on the affiliated type of train, the zone that train travelled, the emergency state of task etc.
Static task priority ps is that their weights separately are w by type (Si) decision under the emergency state (Ai) of the shared track circuit significance level (Zi) of train, task, the train among the present invention
1, w
2, w
3, its weights size is determined according to above-mentioned three factor significance levels, and w
1+ w
2+ w
3=1.So ps can represent with formula 1.
p
s＝w
1Zi+w
2Ai+w
3Si (1)
Dynamic priority refers to that its value is not changeless in the train driving process, all can influence the variation of its value with the priority of its follow-up train on the circuit, train remaining runtime etc.As in train travelling process, As time goes on, its delay time can be longer, thereby the urgency of task improving, and the priority of corresponding train is also improving.So the train wait time is long more, the dynamic priority of train is also high more.The dynamic priority algorithm computing formula:
p
d＝k
1p
s+k
2g(d)+k
3p
s(q，Q) (2)
Wherein: ps is the static priority of train; G (d) weighs the function of train delays time; p
s(q is Q) with the static priority of q train on the circuit; Consider that this factor is for fear of the train beginning of formation with low priority, causes deadlock; In addition, when the train that is compared was not queue heads, dynamic priority did not have this in calculating, i.e. p
d=p
s+ g (d).As shown in Figure 4, the static priority of train T2 is greater than train T1, if do not consider p
s(train T2 will bump against train T1 and cause the accident for q, Q) item; The size of the value of k1, k2 and k3 is specifically calculated according to concrete station, makes priority difference to controlling effectively.
Step 2: according to priority size ordering, select the train of priority maximum to judge that whether number of processes to this route is greater than N to each train;
A. if then warn deadlock;
B. otherwise inquiry route table if there is a suitable route, then sends solicitation message to the equipment on the route;
Step 3: wait for the response message of application equipment, relatively whether the static priority of other trains greater than handling train,
If a. exist, decline this application (static priority is big, shows that this train is more urgent, applies for neighbours' signal so let it be, to finish operation task);
B. if there is no, execution in step 4 then;
Step 4: the response message that has judged whether to receive all devices;
A. if then send locking message;
B. otherwise, behind certain hour, repeat 1 to 6 step;
Step 5: judge the success of whether communicating by letter of locking message;
A. if, signal is open, train sails into;
B. otherwise, forward a step of step 2 to;
Step 6: signal is open, and train sails into.
(2) working process of switch machine, as shown in Figure 2, specifically implement according to following steps:
Step 1: the information that switch machine received signal machine sends;
Step 2:, judge type of message according to the message that step 1 is received:
A. if locking message then forwards step 5 to;
B. if reservation message is then done following operation: judge whether it is many solicitation message;
If then select the processing that begins of priority maximum, for other then transmission refuse information;
If not, directly handle this message, idle message of return signal machine;
Step 3: switch machine is replied idle message according to the judged result that obtains of step 2;
Step 4: wait for locking message, if during receive other route application with the priority ratio of handling route last time;
If a. equate and claimed condition consistent, then handle application, simultaneously idle message of return signal machine;
If b. new solicitation message priority is bigger, then abandon the route of last time, select this route, simultaneously idle message of return signal machine;
If c. new solicitation message priority is less then refuse new application, busy message of return signal machine;
Step 5: after switch machine is received locking message, transformation condition;
Step 6: switch machine locking self, while return signal machine is locking message.
(3) working process of track circuit, as shown in Figure 3, specifically implement according to following steps:
When track circuit is idle: after the track circuit under the idle condition is received the reservation message of signal, at first the priority according to each message sorts, select bigger the handling of priority, and the locking message of wait this application, if locking message is arranged, track circuit just oneself state is set to locking states.Simultaneously, track circuit is replied locking message to signal, and signal is revised the state of this section track circuit in the interlocking table.
When track circuit is had much to do:, then directly refuse the route application if track circuit is in busy condition.
Below the present invention will be described from the principle aspect:
Full distributing railway interlock system is by three big key equipments: signal lamp, switch machine and rail return are formed.Each equipment can be directly and other devices communicatings.Signal lamp has four kinds of states: green, yellow, red and locking redness, and red expression signal lamp does not have the locked application status that can accept route, and locking is red represents that signal lamp is in the route application process; Switch machine has three kinds of states: normotopia, antiposition and lock-out state, lock-out state represent that this switch machine is scheduled; There are busy and idle two states in the track circuit road.Each equipment has four functional modules and a local storage.Four functional modules are respectively computing module, communication module, control module and monitoring module.Wherein computing module is responsible for Intelligent treatment work, is similar to the CPU of computing machine; Communication module is responsible for machine (or assembly) outside contact, messaging; Control module is responsible for controlling the mechanical treatment and the action of this machine, as change state, locking and releasing arrangement; Monitoring module is born the condition monitoring of this machine and overall system, in time finds and gets rid of unusually, prevents that firmly unsafe condition from appearring in this machine and system; Communication module makes and can intercom mutually between each equipment.These modules are separate on function, but can cooperate mutually by interface.The needed all information of the in store equipment operation of local storage is as real-time status of interlocking equipment table, equipment etc.This paper considers in train operation, when detecting might collide with other trains on the same highway section time, needs to adopt certain dispatching algorithm carry out Train Dispatching again.Be crash-avoidance, normal time slice wheel algorithm and the priority algorithm of adopting of vehicle operating scheduling.The former is used for highway communication, commands travelling of vehicular traffic according to replacing of red, green light and stops as cross roads, and amber light is the surge time that traffic lights are given pedestrian or chaufeur when replacing; The latter generally is used for the railway system, is higher than express train as the priority of motor-car, and the priority of express train is again than ordinary passenger express train train height, and the higher relatively train of priority is obtained the right to use in this highway section.
But the train operation situation comprises the time-division of stopping, average running speed etc., because a variety of causes, train operation reality often can not conform to time-table, needs interim adjustment operational plan to finish the transportation burden of reservation.Therefore, it is scheduling problem that this paper adjusts the problem merger with train operation, occupies and obtains the orbital segment significance level according to the velocity magnitude of train, institute, and the dynamic priority of train is determined in the integrated operation plan, and has set up corresponding math modeling.Realize the concurrent running of dynamic allocation of resources and train.
Among the present invention, the priority of train is made following regulation:
1. generally speaking, determine its priority according to type of train under the train;
2. under special circumstances, determine priority by the emergency state;
3. under the identical situation of priority, obey the principle of " First Come First Served ";
4. local calculating priority level;
5. priority difference is to controlling effectively.
In the distributing railway interlock system, signal is based on the scheduling train of time-table the time, and when new application arrived, signal will dynamically determine the real-time of this application under the situation that does not influence the application that has been guaranteed the off period.Promptly must carry out feasibility analysis before the application beginning is processed, can judgement satisfy the demand of this application, if the feasibility analysis success just can accept this new application, lines up it in priority query; Otherwise this task is not received.The application treating process of signal can be regarded as the scheduling of task.Because signal is the major equipment that route is handled, the quality of its algorithm and control policy has directly determined the security row and the reliability of train operation.Owing to the independent operation in whole dispersant system of on-site signal equipment, independently receive message, processing messages and send message, when the concurrent application route of train, signal should satisfy following condition:
1. can accept many route applications, and have the ability to calculate their dynamic priority;
2. when signal is handled the route application, can reject the route application of higher static priority;
3. can communicate by letter with other associated device, and operational order is carried out join operation, intelligence is made the signal control decision;
4. open like clockwork or the closing signal machine;
5. behind signal at stop,, must not repeat open automatically without handling once more.
According to above-mentioned condition, signal is when receiving the train application, go out the dynamic priority of train according to the dynamic calculation of train operation situation, then the application of receiving is sorted according to the priority size, select the highest route inspection to be satisfied, if signal is given each equipment sending message simultaneously according to the route relevant information of its preservation, message content comprises that the priority of finishing this route devices needed state and train of its preservation etc. then.Otherwise, the application of refusal train.
Then, signal is waited for the acknowledge signal of other equipment, after all conditions satisfied, signal sent locking message and makes each equipment oneself locking, and lock information feedback back signal turns green by the time, train sails the station into, in a single day train sails route into, and signal should cut out immediately, and promptly signal changes closed condition automatically over to, after train rolled this route fully away from, signal is automatic unlocking.Signal sends message to divide two classes is respectively reservation message and locking message herein, makes that after equipment is received reservation message a surge time is arranged, and seizes with the application that has higher priority.And then the route of signal is handled process can design the train concurrent running time, as shown in Figure 1.
Embodiment
Utilizing described train priority method of calculating and each functions of the equipments logic below, is that example is carried out modeling and analysis with the concurrent situation of train shown in Figure 4.Suppose that train 1 and train 2 reference positions are AT STATION on the throat track on both sides.At first, calculate the train static priority.Because the significance level of track is the same, therefore suppose Z1=Z2=2; Because train 1 and train 2 all will enter the station, and suppose that train 1 is more urgent than train 2, so A1=4, A2=1; The affiliated the same S1=S2=1 of type.The weights size is w1=0.2, w2=w3=0.4.Therefore, the train 1 before entering the station and train 2 local definite its static priority sizes are respectively:
ps1＝0.2*2+0.4*4+0.4*1＝2.4 (3)
Ps2＝0.2*2+0.4*1+0.4*1＝1.2 (4)
Secondly, when two trains all after signal sends the application of entering the station, the state of equipment on signal decision route scope and the route because the different routes that have two signals to handle respectively of two route applications, the common facilities on the route is switch machine P1 and P2.According to the control logic of switch machine, they at first will detect the type of receiving message when handling concurrent route application, directly with the equipment locking, respond locking message for locking message; To sort through the priority size for reservation message, and then judge the requirement that to satisfy this message.If can satisfy, then reserve this application, if during waiting for locking message, the application of higher priority is arranged or do not wait until locking message, then abandon this route reservation message.Release adopts train to cross the method for automatic unlocking.Calculate the size of the dynamic priority of two trains according to formula 1, as follows respectively:
Pd1＝2.4+0+0＝2.4 (5)
Pd2＝1.2+0+0＝1.2 (6)
So switch machine is handled the route application of train 1 earlier, and according to its command conversion oneself state.
Then, consider situation shown in Figure 5, according to the computing formula of priority, on the train 1 reference position throat track AT STATION, therefore train 2 supposes its Z1=3, Z2=1 on the arterial highway; Will pass through the station by train 2, train 1 is interior AT STATION to stop, so A1=1, A2=4; The same S1=S2=1 of institute's shipping goods type.The weights size is w1=0.2, w2=w3=0.4.Therefore, the train 1 before entering the station and train 2 local definite its static priority sizes are respectively:
Ps1＝0.2*3+0.4*1+0.4*1＝1.4 (7)
Ps2＝0.2*1+0.4*1+0.4*4＝2.2 (8)
When two trains all after signal sends the application of entering the station, signal calculates the size of the dynamic priority of two trains according to formula 1, and is as follows respectively:
Pd1＝1.4+0+2.2＝32.6 (9)
Pd2＝2.2+0＝2.2 (10)
Therefore, control logic according to signal, to the application of receiving according to the ordering of priority size, selects the highest route inspection can be satisfied all conditions satisfied after, it is green that signal turns, train sails the station into, in a single day train sails route into, and signal should cut out immediately, and promptly signal changes the red state of locking automatically over to, after train rolled this route fully away from, signal is automatic unlocking.Train 1 enters the station earlier, simultaneously the application of train 2 is declined, and allows train 2 enter the station by applying for other signal.Also train 2 uses the route that comprises platform T2 to pass through the station.
When departures, train 2 uses signal SHR2 by station, the same Z1=Z2=1 of track significance level of train 1 and train 2 during departures; To pass through the station by train 2, interior AT STATION A1=1, the A2=4 of stopping of train 1; The same S1=S2=1 of type.The weights size is w1=0.2, W2=w3=0.4.Train 1 before entering the station and train 2 local definite its static priority sizes are as follows:
Ps1＝0.2*1+0.4*1+0.4*1＝1.0 (11)
Ps2＝0.2*1+0.4*4+0.4*1＝2.2 (12)
When two trains all after signal sends the application of entering the station, signal calculates the size of the dynamic priority of two trains according to formula 2, and is as follows respectively:
Pd1＝1.0+0+1.0 (13)
Pd2＝2.2+0＝2.2 (14)
Thus, the priority of train 1 makes that less than the priority of train 2 train 1 stops AT STATION and train 2 passes through the station.
By the method concurrent problem in the distributing railway interlock system is studied, by distributing train concurrent scheduling is explored, found a feasible solution, thereby made achievement in research certain contribution be arranged the actual development and application of following this system.
Claims (5)
1. the distributing train concurrent scheduling method based on train priority is characterized in that, comprises signal scheduling, switch machine scheduling and track circuit scheduling.
2. the distributing train concurrent scheduling method based on train priority according to claim 1 is characterized in that, described signal scheduling is specifically implemented according to following steps:
Step 1: signal is gathered the train application on the train rail, according to this locality storage data and Train Dynamic priority method of calculating, calculates the dynamic priority of each train;
Step 2: according to priority size ordering, select the train of priority maximum to judge the number of processes of this route: if then warn deadlock whether greater than N to each train; Otherwise inquiry route table if there is a suitable route, then sends solicitation message to the equipment on the route;
Step 3: wait for the response message of application equipment, relatively whether the static priority of other trains is greater than handling train: if exist, decline this application; If there is no, execution in step 4 then;
Step 4: the response message that has judged whether to receive all devices: if then send locking message; Otherwise behind certain hour, repeating step 1 is to step 6;
Step 5: judge the success of whether communicating by letter of locking message: if signal is open, train sails into; Otherwise, forward step 2 to;
Step 6: signal is open, and train sails into.
3. the distributing train concurrent scheduling method based on train priority according to claim 2, it is characterized in that, Train Dynamic priority method of calculating in the described step 1, specifically implement: be divided into static priority and dynamic priority according to following steps, static priority refers to priority and determines along with determining of train task, before the train task termination, continue constant, by type Si decision under the emergency state Ai of the shared track circuit significance level Zi of train, task, the train, their weights separately are w
1, w
2, w
3, and w
1+ w
2+ w
3=1, p
s=w
1Zi+w
2Ai+w
3Si; Dynamic priority refers to that its value is not changeless in the train driving process, with the priority of its follow-up train on the circuit, the variation that the train remaining runtime can influence its value, p
d=k
1p
s+ k
2G (d)+k
3p
s(q, Q), wherein: Ps is the static priority of train; Pd is the dynamic priority of train; G (d) is a function of weighing the train delays time; p
s(q Q) is static priority with q train on the circuit.
4. the distributing train concurrent scheduling method based on train priority according to claim 1 is characterized in that, described switch machine scheduling is specifically implemented according to following steps:
Step 1: the information that switch machine received signal machine sends;
Step 2:, judge type of message: if locking message then forwards step 5 to according to the message that step 1 is received; If reservation message is then done following operation: judge whether it is many solicitation message: if then select the processing that begins of priority maximum, for other then transmission refuse information; If not, directly handle this message, idle message of return signal machine;
Step 3: switch machine is replied idle message according to the judged result that obtains of step 2;
Step 4: wait for locking message, if during receive other route application with the priority ratio of handling route last time: if equate and claimed condition consistent, then handle application, simultaneously idle message of return signal machine; If new solicitation message priority is bigger, then abandon the route of last time, select this route, simultaneously idle message of return signal machine; If new solicitation message priority is less then refuse new application, busy message of return signal machine;
Step 5: after switch machine is received locking message, transformation condition;
Step 6: switch machine locking self, while return signal machine is locking message.
5. the distributing train concurrent scheduling method based on train priority according to claim 1 is characterized in that, described track circuit scheduling is specifically implemented according to following steps:
When track circuit is idle: after the track circuit under the idle condition is received the reservation message of signal, at first the priority according to each message sorts, select bigger the handling of priority, and the locking message of wait this application, if locking message is arranged, track circuit just oneself state is set to locking states, simultaneously, track circuit is replied locking message to signal, and signal is revised the state of this section track circuit in the interlocking table; When track circuit is had much to do: then directly refuse the route application.
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| CN106494469B (en) * | 2016-10-27 | 2018-06-19 | 上海电气泰雷兹交通自动化系统有限公司 | A kind of speed car crosses the method for avoidance automatically |
| CN107571889A (en) * | 2017-09-11 | 2018-01-12 | 湖南中车时代通信信号有限公司 | A kind of line resource controller |
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| CN108082216B (en) * | 2017-11-13 | 2020-04-21 | 北京全路通信信号研究设计院集团有限公司 | Method and device for route unlocking in computer interlocking and computer storage medium |
| CN111791923A (en) * | 2020-05-21 | 2020-10-20 | 北京交通大学 | Energy-saving-oriented single-track railway train scheduling method and system |
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