Adaptive train model
View Patent ↗An adaptive train model (ATM) for predicting train consist reactions to specific stimuli using a system including at least one measurement sensor located on the train consist, a data base, and a computer. The ATM collects sensor data as the consist is moving, determines a consist force balance utilizing the sensor data and the computer, determines a set of consist coefficients using the computer, and predicts train consist kinetic characteristic values using the consist force balance and the set of consist coefficients.
1. A method for predicting train consist reactions to specific stimuli using a system including at least one measurement sensor located on a train consist, a data base, and a computer, the train consist including at least one locomotive and at least one railcar, said method comprising the steps of:
collecting sensor data as the consist is moving;
determining a consist force balance utilizing the sensor data and the computer;
determining a set of consist coefficients using the computer; and
predicting train consist kinetic characteristic values using the consist force balance and the set of consist coefficients including:
determining an acceleration prediction;
determining a speed after one minute prediction using the acceleration prediction; and
determining a shortest braking distance prediction using the acceleration prediction.
2. A method in accordance with claim 1 wherein said step of collecting sensor data comprises the steps of:
monitoring a force applied to the consist utilizing the at least one measurement sensor;
generating force data with respect to the force applied; and
communicating the force data to the computer.
3. A method in accordance with claim 1 wherein said step of determining a consist force balance comprises the step of determining a set of consist kinetic elements.
4. A method in accordance with claim 3 wherein said step of determining a set of consist kinetic elements comprises the step of determining rolling forces according to the equation:
F (rf) =M ( K r +K rv v ( t ))
wherein
F (rf) relates to the rolling forces of the train;
M is the total train mass;
K r is the corrective factor for friction of the train;
K rv is the dynamic corrective factor for friction of the train; and
v(t) is the speed of the train as a function of time.
5. A method in accordance with claim 3 wherein said step of determining a set of consist kinetic elements further comprises the step of determining aerodynamic forces according to the equation:
F (af) =K a v ( t ) 2
wherein
F (af) relates to the aerodynamic forces of the train;
K a is the corrective factor for the effect of the aerodynamic friction; and
v(t) is the speed of the train as a function of time.
6. A method in accordance with claim 3 wherein said step of determining a set of consist kinetic elements further comprises the step of determining elevation caused forces according to the equation:
F (ef) =M ( K e1 E 1 ( t )+ K e2 E 2 ( t )+ K e3 E 3 ( t )+ K e4 E 4 ( t ))
wherein
F (ef) relates to the elevation caused forces of the train;
M is the total train mass;
K e1 is the corrective factor for the effect of the elevation change on a first segment of the train;
E 1 (t) is the elevation function relating to the first segment;
K e2 is the corrective factor for the effect of the elevation change on a second segment of the train;
E 2 (t) is the elevation function relating to the second segment;
K e3 is the corrective factor for the effect of the elevation change on a third segment of the train;
E 3 (t) is the elevation function relating to the third segment;
K e4 is the corrective factor for the effect of the elevation change on a fourth segment of the train; and
E 4 (t) is the elevation function relating to the fourth segment.
7. A method in accordance with claim 3 wherein said step of determining a set of consist kinetic elements further comprises the step of determining braking forces caused by direction changes according to the equation:
F (dbf) =M ( K p C p ( t )+ K 1 C 1 ( t ))
wherein
F (dbf) relates to the dynamic braking force of the train;
M is the total train mass;
K p is the corrective factor for the weight increase of the train;
C p (t) is the braking effect caused by the weight increase;
K 1 is the corrective factor for the effect of the lateral friction of the train; and
C 1 (t) is the braking effect caused by the lateral friction.
8. A method in accordance with claim 3 wherein the at least one railcar includes at least one brake shoe, said step of determining a set of consist kinetic elements further comprises the step of determining consist brake forces caused by application of the at least one brake shoe according to the equation:
F (baf) =K b1 B 1 ( t )+ K b2 B 2 ( t )+K b3 B 3 ( t )+ K b4 B 4 ( t )
wherein
F (baf) relates to the applied braking forces of the train;
K b1 is the brake function coefficient relating to a first segment of the train;
B 1 (t) is the brake function relating to the first segment;
K b2 is the brake function coefficient relating to a second segment of the train;
B 2 (t) is the brake function relating to the second segment;
K b3 is the brake function coefficient relating to a third segment of the train;
B 3 (t) is the brake function relating to the third segment;
K b4 is the brake function coefficient relating to a fourth segment of the train; and
B 4 (t) is the brake function relating to the fourth segment.
9. A method in accordance with claim 8 wherein said step of determining consist brake forces caused by application of the at least one brake shoe further comprises the steps of:
determining friction coefficients of the at least one brake shoe;
determining total brake application forces; and
determining total brake release forces.
10. A method in accordance with claim 9 wherein said step of determining total brake application forces comprises the step of determining a brake application dragging force using a fast building pressure model according to the equation:
Bf f =min(0,max(1,( T+ 3.86950758 *T 2 +0.23164628* T 3 )/(16367.9101+111.652789 *T+ 27.61345048* T 2 −0.0026229 *T 3 ))) Bc f
wherein
Bf f is the braking force of the train for fast building pressure;
T is the traction force of the train; and
Bc f is the brake cylinder force of the train.
11. A method in accordance with claim 9 wherein said step of determining total brake application forces comprises the step of determining a brake application dragging force using a slow building pressure model according to the equation:
Bf s =min(0,max(1,( T s +2.00986206 *T s 2 +0.81412194 *T s 3 )/(0.00067603+169.361303* T s +8.95254599* T s 2 +0.58477705* T s 3 ))) Bc s
wherein
Bf s is the braking force of the train for slow building pressure;
T s is the traction force for the slow building pressure; and
Bc s is the brake cylinder force of the train.
12. A method in accordance with claim 9 wherein said step of determining total brake release forces comprises the step of determining brake release using a fast release model according to the equation:
Rf f =min(0,max(1,( t+ 3.86950758* t 2 +0.23164628* t 3 )/(16367.9101+111.652789* t+ 27.61345048 *t 2 −0.0026229* t 3 ))) Bc f
wherein
Rf f relates to the fast release force of the train;
t is the time; and
Bc f is the brake cylinder force of the train.
13. A method in accordance with claim 9 wherein said step of determining total brake release forces comprises the step of determining brake release using a slow release model according to the equation:
Rf s =min(0,max(1,( t+ 2.00986206* t 2 +0.81412194* t 3 )/(0.00067603+169.361303* t+ 8.95254599* t 2 +0.58477705* t 3 ))) Bc s
wherein
Rf s relates to the slow release force of the train;
t is the time; and
Bc s is the brake cylinder force of the train.
14. A method in accordance with claim 3 wherein said step of determining a set of consist kinetic elements further comprises the step of determining dynamic brake force according to the equation:
F (dbf) =K d D ( t )
wherein
F (dbf) relates to the dynamic brake force;
K d is the corrective factor for the effect of the dynamic brake application; and
D(t) is the dynamic brake force of the train.
15. A method in accordance with claim 3 wherein said step of determining a set of kinetic elements further comprises the step of determining traction force.
16. A method in accordance with claim 3 wherein said step of determining a force balance further comprises the step of summing the set of consist kinetic elements.
17. A method in accordance with claim 1 wherein said step of determining a set of consist coefficients comprises the step of using a least squares method to determine consist coefficients.
18. A method in accordance with claim 17 wherein said step of using the least squares method comprises the steps of:
weighting data;
solving the system; and
determining a confidence measure.
19. A method in accordance with claim 1 wherein said step of determining an acceleration prediction comprises the steps of:
determining initial values; and
storing the initial values in the database.
20. A method in accordance with claim 19 wherein said step of determining an acceleration prediction further comprises the step of determining the acceleration prediction value using a Euler method and the determined initial values.
21. A method in accordance with claim 19 wherein said step of determining an acceleration prediction further comprises the step of determining the acceleration prediction value using a Milne method and the determined initial values.
22. A system for predicting reactions of a train consist to specific stimuli, said system comprising at least one measurement sensor located on the train consist, a data base, and a computer, the train consist comprising at least one locomotive and at least one railcar, said system configured to:
collect sensor data as the consist is moving;
determine a consist force balance utilizing the sensor data and said computer;
determine a set of consist coefficients using said computer; and
predict train consist kinetic characteristic values using the consist force balance and the set of consist coefficients wherein the system is configured to:
determine an acceleration prediction;
determine a speed after one minute prediction using said acceleration prediction; and
determine a shortest braking distance prediction using said acceleration prediction.
23. A system in accordance with claim 22 wherein to collect sensor data said system further configured to:
monitor a force applied to the consist utilizing said at least one measurement sensor;
generate force data with respect to the force applied; and
communicate the force data to said computer.
24. A system in accordance with claim 22 wherein to determine a consist force balance, said system further configured to determine a set of consist kinetic elements.
25. A system in accordance with claim 24 wherein to determine a set of consist kinetic elements, said system further configured to determine rolling forces according to the equation:
F (rf) =M ( K r +K rv v ( t ))
wherein
F (rf) relates to the rolling forces of the train;
M is the total train mass;
K r is the corrective factor for friction of the train;
K rv is the dynamic corrective factor for friction of the train; and
v(t) is the speed of the train as a function of time.
26. A system in accordance with claim 24 wherein to determine a set of consist kinetic elements, said system further configured to determine aerodynamic forces according to the equation:
F (af) =K a v ( t ) 2
wherein
F (af) relates to the aerodynamic forces of the train;
K a is the corrective factor for the effect of the aerodynamic friction; and
v(t) is the speed of the train as a function of time.
27. A system in accordance with claim 24 wherein to determine a set of consist kinetic elements, said system further configured to determine elevation caused forces according to the equation:
F (ef) =M ( K e1 E 1 ( t )+ K e2 E 2 ( t )+K e3 E 3 ( t )+ K e4 E 4 ( t ))
wherein
F (ef) relates to the elevation caused forces of the train;
M is the total train mass;
K e1 is the corrective factor for the effect of the elevation change on a first segment of the train;
E 1 (t) is the elevation function relating to the first segment;
K e2 is the corrective factor for the effect of the elevation change on a second segment of the train;
E 2 (t) is the elevation function relating to the second segment;
K e3 is the corrective factor for the effect of the elevation change on a third segment of the train;
E 3 (t) is the elevation function relating to the third segment;
K e4 is the corrective factor for the effect of the elevation change on a fourth segment of the train; and
E 4 (t) is the elevation function relating to the fourth segment.
28. A system in accordance with claim 24 wherein to determine a set of consist kinetic elements, said system further configured to determine braking forces caused by direction changes according to the equation:
F (dbf) =M ( K p C p ( t )+ K 1 C 1 ( t ))
wherein
F (dbf) relates to the dynamic braking force of the train;
M is the total train mass;
K p is the corrective factor for the weight increase of the train;
C p (t) is the braking effect caused by the weight increase;
K 1 is the corrective factor for the effect of the lateral friction of the train; and
C 1 (t) is the braking effect caused by the lateral friction.
29. A system in accordance with claim 24 wherein said at least one railcar comprises at least one brake shoe, and to determine a set of consist kinetic elements, said system further configured to determine consist brake forces caused by application of said at least one brake shoe according to the equation:
F (baf) =K b1 B 1 ( t )+ K b2 B 2 ( t )+ K b3 B 3 ( t )+ K b4 B 4 ( t )
wherein
F (baf) relates to the applied braking forces of the train;
K b1 is the brake function coefficient relating to a first segment of the train;
B 1 (t) is the brake function relating to the first segment;
K b2 is the brake function coefficient relating to a second segment of the train;
B 2 (t) is the brake function relating to the second segment;
K b3 is the brake function coefficient relating to a third segment of the train;
B 3 (t) is the brake function relating to the third segment;
K b4 is the brake function coefficient relating to a fourth segment of the train; and
B 4 (t) is the brake function relating to the fourth segment.
30. A system in accordance with claim 29 wherein to determine consist brake forces caused by application of said at least one brake shoe, said system further configured to:
determine friction coefficients of said at least on brake shoe;
determine total brake application forces; and
determine total brake release forces.
31. A system in accordance with claim 30 wherein to determine total brake application forces, said system further configured to determine a brake application dragging force using a fast building pressure model according to the equation:
Bf f =min(0,max(1,( T+ 3.86950758* T 2 +0.23164628 *T 3 )/(16367.9101+111.652789 *T+ 27.61345048 *T 2 −0.0026229 *T 3 ))) Bc f
wherein
Bf f is the braking force of the train for fast building pressure;
T is the traction force of the train; and
Bc f is the brake cylinder force of the train.
32. A system in accordance with claim 30 wherein to determine total brake application forces, said system further configured to determine a brake application dragging force using a slow building pressure model according to the equation:
Bf s =min(0,max(1,( T s +2.00986206 *T s 2 +0.81412194 *T s 3 )/(0.00067603+169.361303 *T s +8.95254599 *T s 2 +0.58477705 *T s 3 ))) Bc s
wherein
Bf s is the braking force of the train for slow building pressure;
T s is the traction force for the slow building pressure; and
Bc s is the brake cylinder force of the train.
33. A system in accordance with claim 30 wherein to determine total brake release forces, said system further configured to determine brake release using a fast release model according to the equation:
Rf f =min(0,max(1,( t+ 3.86950758 *t 2 +0.23164628 *t 3 )/(16367.9101+111.652789 *t+ 27.61345048 *t 2 −00026229 *t 3 ))) Bc f
wherein
Rf f relates to the fast release force of the train;
t is the time; and
Bc f is the brake cylinder force of the train.
34. A system in accordance with claim 30 wherein to determine total brake release forces, said system further configured to determine brake release using a slow release model according to the equation:
Rf s =min(0,max(1,( t+ 2.00986206 *t 2 +0.81412194 *t 3 )/(0.00067603+169.361303 *t+ 8.95254599 *t 2 +0.58477705 *t 3 ))) Bc s
wherein
Rf s relates to the slow release force of the train;
t is the time; and
Bc s is the brake cylinder force of the train.
35. A system in accordance with claim 24 wherein to determine a set of consist kinetic elements, said system further configured to determine dynamic brake force according to the equation:
F (dbf) =K d D ( t )
wherein
F (dbf) relates to the dynamic brake force;
K d is the corrective factor for the effect of the dynamic brake application; and
D(t) is the dynamic brake force of the train.
36. A system in accordance with claim 24 wherein to determine a set of kinetic elements, said system further configured to determine traction force.
37. A system in accordance with claim 24 wherein to determine a force balance, said system further configured to sum said set of consist kinetic elements.
38. A system in accordance with claim 22 wherein to determine a set of consist coefficients, said system further configured to use a least squares method to determine consist coefficients.
39. A system in accordance with claim 38 wherein to use the least squares, said system further configured to:
weight data;
solve the system; and
determine a confidence measure.
40. A system in accordance with claim 22 wherein to determine an acceleration prediction, said system further configured to:
determine initial values; and
store the initial values in said database.
41. A system in accordance with claim 40 wherein to determine an acceleration prediction, said system further configured to determine the acceleration prediction value using a Euler method and said determined initial values.
42. A system in accordance with claim 19 wherein to determine an acceleration prediction, said system further configured to determine the acceleration prediction value using a Milne method and the determined initial values.
43. A method for determining a force balance for a train consist using a system including at least one measurement sensor located on the train consist, a data base, and a computer, the train consist including at least one locomotive and at least one railcar, the railcar including at least one brake shoe, said method comprising the steps of:
monitoring a force applied to the consist utilizing the at least one measurement sensor;
generating force data with respect to the force applied;
communicating the force data to the computer;
determining rolling forces according to the equation F (rf) =M(K r +K rv v(t)),
determining aerodynamic forces according to the equation F (af) =K a v(t) 2 ,
determining elevation caused forces according to the equation F (ef) =M(K e1 E 1 (t)+K e2 E 2 (t)+K e3 E 3 (t)+K e4 E 4 (t)),
determining braking forces caused by direction changes according to the equation F (dbf) =M(K p C p (t)+K 1 C 1 (t));
determining consist brake forces caused by application of the at least one brake shoe according to the equation F (baf) =K b1 B 1 (t)+K b2 B 2 (t)+K b3 B 3 (t)+K b4 B 4 (t);
determining brake application dragging force using a fast building pressure model according to the equation:
Bf f =min(0,max(1,( T+ 3.86950758 *T 2 +0.23164628 *T 3 )/(16367.9101+111.652789 *T+ 27.61345048 *T 2 −0.0026229 *T 3 ))) Bc f ;
determining brake application dragging force using a slow building pressure model according to the equation:
Bf s =min(0,max(1,( T s +2.00986206 *T s 2 +0.81412194 *T s 3 )/(0.00067603+169.361303 *T s +8.95254599 *T s 2 +0.58477705 *T s 3 );
determining brake release using a fast release model according to the equation:
Rf f =min(0,max(1,( t+ 3.86950758 *t 2 +0.23164628 *t 3 )/(16367.9101+111.652789 *t+ 27.61345048 *t 2 −0.0026229 *t 3 ))) Bc f ,
determining brake release using a slow release model according to the equation:
Rf s =min(0,max(1,( t+ 2.00986206 *t 2 +0.81412194 *t 3 )/(0.00067603+169.361303 *t+ 8.95254599 *t 2 +0.58477705 *t 3 ))) Bc s
determining dynamic brake force according to the equation F (dbf) =K d D(t),
determining traction force; and
determining a final solution according to the equation:
F ( t )= M ( K r +K rv v ( t ))+ K a v ( t ) 2 +
MK e1 E 1 ( t )+ MK e2 E 2 ( t )+ MK e3 E 3 ( t )+ MK e4 E 4 ( t )+
MK p C p ( t )+ MK 1 C 1 ( t )+
K b1 B 1 ( t )+ K b2 B 2 ( t )+ K b3 B 3 ( t )+ K b4 B 4 ( t )+
K r1 R 1 ( t )+ K r2 R 2 ( t )+ K r3 R 3 ( t )+ K r4 R 4 ( t )+ K d D ( t )+ K t T ( t )
wherein
F (rf) relates to the rolling forces of the train;
M is the total train mass;
K r is the corrective factor for friction of the train;
K rv is the dynamic corrective factor for friction of the train;
v(t) is the speed of the train as a function of time;
F (af) relates to the aerodynamic forces of the train;
K a is the corrective factor for the effect of the aerodynamic friction;
F (ef) relates to the elevation caused forces of the train;
K e1 is the corrective factor for the effect of the elevation change on a first segment of the train;
E 1 (t) is the elevation function relating to the first segment;
K e2 is the corrective factor for the effect of the elevation change on a second segment of the train;
E 2 (t) is the elevation function relating to the second segment;
K e3 is the corrective factor for the effect of the elevation change on a third segment of the train;
E 3 (t) is an elevation function relating to the third segment;
K e4 is the corrective factor for the effect of the elevation change on a fourth segment of the train;
E 4 (t) is an elevation function relating to the fourth segment;
F (dbf) relates to the dynamic braking force of the train;
K p is the corrective factor for the weight increase of the train;
C p (t) is the braking effect caused by the weight increase;
K 1 is the corrective factor for the effect of the lateral friction of the train;
C 1 (t) is the braking effect caused by the lateral friction;
F (baf) relates to the applied braking forces of the train;
K b1 is the brake function coefficient relating to a first segment of the train;
B 1 (t) is the brake function relating to the first segment;
K b2 is the brake function coefficient relating to a second segment of the train;
B 2 (t) is the brake function relating to the second segment;
K b3 is the brake function coefficient relating to a third segment of the train;
B 3 (t) is the brake function relating to the third segment;
K b4 is the brake function coefficient relating to a fourth segment of the train;
B 4 (t) is the brake function relating to the fourth segment;
Bf f is the braking force of the train for fast building pressure;
T is the traction force of the train;
Bc f is the brake cylinder force of the train;
Bf s is the braking force of the train for slow building pressure;
T s is the traction force for the slow building pressure;
Bc s is the brake cylinder force of the train;
Rf f relates to the fast release force of the train;
t is the time;
Rf s relates to the slow release force of the train;
F (dbf) relates to the dynamic brake force;
K d is the corrective factor for the effect of the dynamic brake application;
D(t) is the dynamic brake force of the train;
F(t) is the force balance of the train;
K r1 is the corrective factor for friction in the first segment of the train;
R 1 (t) is the release function of the first segment;
K r2 is the corrective factor for friction in the second segment of the train;
R 2 (t) is the release function of the second segment;
K r3 is the corrective factor for friction in the third segment of the train;
R 3 (t) is the release function of the third segment;
K r4 is the corrective factor for friction in the fourth segment of the train;
R 4 (t) is the release function of the fourth segment; and
K d is the corrective factor for the effect of the dynamic brake application.