CN101832869B - Method, device and system for detecting adhesion coefficient - Google Patents
Method, device and system for detecting adhesion coefficient Download PDFInfo
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- CN101832869B CN101832869B CN201010164478XA CN201010164478A CN101832869B CN 101832869 B CN101832869 B CN 101832869B CN 201010164478X A CN201010164478X A CN 201010164478XA CN 201010164478 A CN201010164478 A CN 201010164478A CN 101832869 B CN101832869 B CN 101832869B
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Abstract
The invention relates to the technical field of locomotive or motor train unit detection, provides a method, a device and a system for detecting an adhesion coefficient, and aims to solve the problems that the detection cost of the adhesion coefficient of a locomotive or a motor train unit is high and the waste of resources is high in the prior art. The method comprises the following steps of: acquiring real-time control parameters and operating parameters on the running locomotive or the running motor train unit, and storing the control parameters and the operating parameters in an index file according to time sequence; when the operating parameters of the locomotive or the motor train unit reach a predetermined condition, transmitting the index file to a remote computer; and calculating the adhesion coefficient of the locomotive or the motor train unit according to the index file by the computer. The control parameters and the operating parameters of the running locomotive or the running motor train unit for the calculation of the adhesion coefficient can be detected by the method, so that the calculated adhesion coefficient is more reliable and the problem that a test train occupies a railway and affects normal running because a large amount of special experiments are required to be carried out on the running railway in order to acquire the adhesion coefficient in the prior art is solved.
Description
Technical field
The present invention is a kind of methods, devices and systems that detect adhesion factor relevant for locomotive and motor train unit detection technique field specifically.
Background technology
Adhesion factor μ is important parameters in locomotive or motor train unit design and the day-to-day operation, after the adhesion weight of locomotive or motor train unit is determined, actual maximum drawbar pull/the damping force that can bring into play is wheel rail adhesion power, depends on the adhesion factor μ between driving wheel and rail.When locomotive or motor train unit traction, if tractive effort at wheel rim greater than wheel rail adhesion power, will dally; During the braking of locomotive or motor train unit, if damping force greater than wheel rail adhesion power, locomotive will slide.According to the operating mode of train, adhesion factor is divided into coefficient of adhesion in traction and coefficient of adhesion in braking, and in general, coefficient of adhesion in braking is less than coefficient of adhesion in traction.
Adhesion factor is relevant with several factors, thereby can not make a computing formula that comprises various factors.The adhesion factor that adopts during traction is calculated is determined through dedicated experiments, is called calculated adhesion coefficient μ
jMensuration for the locomotive adhesion factor in the prior art generally is to adopt the organizational systems of tested locomotive+instruction carriage+load locomotive+some truck vehicles, tested locomotive is statically placed on the rail circuit of test, the rear portion train is applied braking, increasing traction gradually, instruction carriage carries out data acquisition continuously, till locomotive dallies, to measure bull wheel week adhesion tractive force of locomotive.
But the inventor finds that prior art comprises following deficiency at least in realizing process of the present invention:
Existing test method can only be measured the starting adhesion factor of locomotive, can't be determined at the adhesion factor of comprehensive various external environment conditions and rail level condition on the actual motion circuit, also can't measure the adhesion factor under the damped condition, and service condition is limited; When testing, need special optional test circuit and test period, influence normal transport task, and big quantity sensor will be installed, waste time and energy, can't carry out large-scale test; And speed is zero adhesion factor when utilizing mode of the prior art to calculate train starting, makes that the control to locomotive is inaccurate in the true movement operation.
Summary of the invention
The present invention just is based on the problems referred to above and proposes, its purpose is to provide a kind of methods, devices and systems that detect adhesion factor, be used for solving prior art and detect locomotive or motor train unit adhesion factor cost height, serious waste of resources, problem such as can't on the busy operating line of China, implement.
The embodiment of the invention provides a kind of method that detects adhesion factor, comprises,
Obtain real-time controlled variable and operational factor on the locomotive of operation or the motor train unit, described controlled variable and operational factor are stored in the index file according to time sequencing;
When the operational factor of described locomotive or motor train unit arrives predetermined condition, described index file is sent to far-end computer;
Described computing machine calculates the adhesion factor of this locomotive or motor train unit according to described index file.
A further aspect according to the described method of the embodiment of the invention, after getting access to described controlled variable and operational factor on described locomotive or the motor train unit, comprise that also locomotive or motor train unit obtain current environmental parameter, described environmental parameter is stored in the index file according to time sequencing.
Another further aspect according to the described method of the embodiment of the invention when described operational factor when described locomotive or motor train unit satisfies predetermined condition, sends to far-end computer with described index file and comprises,
When the operational factor of described locomotive or motor train unit one of meets the following conditions at least, described predetermined condition satisfies:
When arbitrary moving axis surpasses first predetermined threshold with the rotating speed difference of dragging axle, then described index file is sent to far-end computer; Or
Difference between any two moving axis rotating speeds surpasses second predetermined threshold, then described index file is sent to described far-end computer; Or
When the absolute value of arbitrary moving axis acceleration surpasses the 3rd predetermined threshold, then described index file is sent to far-end computer; Or
When the wheel that receives locomotive or motor train unit idle running takes place or described index file sent to far-end computer during the warning message that slides.
Another further aspect according to the described method of the embodiment of the invention, in calculating the adhesion factor of this locomotive or motor train unit according to described index file, described computing machine also comprises, described far-end computer obtains the environmental parameter of environment server, analyzes the adhesion factor of this locomotive or motor train unit according to described environmental parameter.
The embodiment of the invention also provides a kind of pick-up unit of adhesion factor, comprises,
Acquiring unit is used to obtain real-time controlled variable and operational factor on the locomotive of operation or the motor train unit, and described controlled variable and operational factor are stored in the index file according to time sequencing;
Transmitting element is used for when the operational factor of described locomotive or motor train unit satisfies predetermined condition described index file being sent, to calculate the adhesion factor of this locomotive or motor train unit according to described index file.
According to a further aspect of the described device of the embodiment of the invention, described acquiring unit is connected with MVB network on locomotive or the motor train unit, obtains controlled variable and operational factor on locomotive or the motor train unit by this MVB network;
Perhaps be connected, obtain controlled variable and operational factor with traction control unit on locomotive or the motor train unit.
Another further aspect according to the described device of the embodiment of the invention also comprises the environmental parameter acquiring unit, is used to obtain the environmental parameter of locomotive or motor train unit operation, and described environmental parameter is stored in the described index file.
According to another further aspect of the described device of the embodiment of the invention, comprise at least in the described transmitting element with one of lower module,
First judge module when arbitrary moving axis surpasses first predetermined threshold with the rotating speed difference of dragging axle, then sends described index file; Or
Second judge module, the difference between any two moving axis rotating speeds surpasses second predetermined threshold, then described index file is sent; Or
The 3rd judge module when the absolute value of arbitrary moving axis acceleration surpasses the 3rd predetermined threshold, then sends to away described index file; Or
The 4th judge module is when the wheel that receives locomotive or motor train unit idle running takes place or described index file is sent during the warning message that slides.
The embodiment of the invention also provides a kind of system that detects adhesion factor, comprises pick-up unit and far-end computer,
Described pick-up unit, be used to obtain real-time controlled variable and operational factor on the locomotive of operation or the motor train unit, described controlled variable and operational factor are stored in the index file according to time sequencing, and when the operational factor of described locomotive or motor train unit arrives predetermined condition, described index file is sent to described far-end computer;
Described far-end computer is used for calculating according to described index file the adhesion factor of this locomotive or motor train unit.
A further aspect according to the described system of the embodiment of the invention also comprises environment server, and described far-end computer obtains environmental parameter from described environment server, analyzes described adhesion factor according to described environmental parameter.
In the embodiment of the invention, can detect the data that obtain between actual track and locomotive or the motor train unit, the adhesion factor that later stage calculates has more with reference to property, be convenient to the control of tractive force and damping force, and can avoid taking track and influence normal production and transport, and can obtain adhesion factor between locomotive in service or motor train unit and the track, for more accurate in the different application.
Description of drawings
Accompanying drawing described herein is used to provide the further understanding to the embodiment of the invention, constitutes the application's a part, does not constitute limitation of the invention.In the accompanying drawings:
Figure 1 shows that a kind of method flow diagram that detects adhesion factor of the embodiment of the invention;
Figure 2 shows that the pick-up unit structural representation of a kind of adhesion factor of the present invention;
Figure 3 shows that a kind of system construction drawing that detects adhesion factor of the embodiment of the invention;
Figure 4 shows that the graph of a relation of embodiment of the invention circumferential force coefficient and relative sliding velocity;
Figure 5 shows that embodiment of the invention locomotive wheel single-wheel simplified structure synoptic diagram;
Figure 6 shows that the curve map of embodiment of the invention adhesion factor and speed;
Figure 7 shows that a kind of method flow diagram that detects adhesion factor of the embodiment of the invention.
Embodiment
For the purpose, technical scheme and the advantage that make the embodiment of the invention is clearer,, the present invention is described in further details below in conjunction with embodiment and accompanying drawing.At this, exemplary embodiment of the present invention and explanation thereof are used to explain the present invention, but not as a limitation of the invention.
In following embodiment, locomotive or motor train unit are referred to as locomotive, but what it may occur to persons skilled in the art that is that method of the present invention, Apparatus and system go for locomotive or motor train unit.
Be illustrated in figure 1 as a kind of method flow diagram that detects adhesion factor of the embodiment of the invention.
Comprise step 101, obtain controlled variable real-time on the locomotive of operation and operational factor, described controlled variable and operational factor are stored in the index file according to time sequencing.
Wherein, described controlled variable is meant the parameter of various propulsion system in the control locomotive, for example comprises the setting value, speed setting value of current of electric setting value, the torque of motor moving axis etc.Wherein said controlled variable can be obtained cab handle traction/braking level, the torque settings value of four moving axis, speed setting value by the multifunctional vehicle on the locomotive (MVB) network, and also can obtain by the traction control unit (TCU) on the described locomotive.
The location parameter of the locomotive that described operational factor comprises time for example, obtain by Global Positioning System (GPS), current of electric, four moving axis rotating speeds (number of the moving axis rotating speed that obtains according to the type of locomotive difference is also different), torque, running velocity, wheel shaft tractive force, operation kilometer post, line condition parameters such as (going up a slope or descending) of dragging the rotating speed of axle, four moving axis, can obtain the operational factor of sensor by the MVB network on the locomotive, and also can obtain by the traction control unit (TCU) on the described locomotive.
For locomotive,, can on this locomotive, add specific sensor to obtain this operational factor if there are not in the operational factor one or more.
After getting access to described controlled variable and operational factor on the described locomotive, comprise that also locomotive obtains current environmental parameter, described environmental parameter comprises for example weather conditions, temperature, humidity etc., described weather conditions weather conditions such as comprise fine day, rain or snow.
After above-mentioned steps, also comprise, described environmental parameter is stored in the index file according to time sequencing.
Pass through above-mentioned steps, can detect the data that obtain between actual track and the locomotive, the adhesion factor that later stage calculates has more with reference to property, be convenient to the control of tractive force and damping force, and can avoid taking track and influence normal production and transport, and the adhesion factor between locomotive and the track in can obtaining to move, for more accurate in the different application.
As the further embodiment of the present invention, when the wheel that receives locomotive idle running takes place or just described index file sent to far-end computer during the warning message that slides.
As the further embodiment of the present invention, when arbitrary moving axis surpasses first predetermined threshold with the rotating speed difference of dragging axle, described first predetermined threshold for example is 0.27m/s, then described index file is sent to far-end computer, wherein, the described axle that drags neither is subjected to tractive force not to be subjected to damping force again, and this speed of dragging the rotating speed of axle to be converted into can be thought the travelling speed of locomotive reality.
As the further embodiment of the present invention, the difference between any two moving axis rotating speeds surpasses second predetermined threshold, and described second predetermined threshold for example is 1.5m/s, then described index file is sent to described far-end computer.
As the further embodiment of the present invention, when the absolute value of arbitrary moving axis acceleration surpasses the 3rd predetermined threshold, then described index file is sent to far-end computer, for example when locomotive speed≤70km/h, described the 3rd predetermined threshold is that per second quickens or deceleration 1km/h; When 70km/h＜locomotive speed≤110km/h, described the 3rd predetermined threshold is that per second quickens or deceleration 0.5km/h; When locomotive speed＞110km/h, described the 3rd predetermined threshold is that per second quickens or deceleration 0.33km/h.Wherein, the absolute value of described acceleration comprises the situation that moving axis quickens and slows down.
Above-mentioned first predetermined threshold, second predetermined threshold and the 3rd predetermined threshold can be set according to different automobile types, perhaps vehicle of the same race are set different predetermined thresholds, obviously not should be understood to limitation of the present invention.
Wherein send to far-end computer and comprise, described index file is sent to described far-end computer by wireless network.
By can reduce to transmit the traffic of data to the judgment mechanism that sends index file, avoid the waste of a large amount of gibberish to the communication resource.
Also comprise in this step, described computing machine obtains the described index file that comprises that described controlled variable, operational factor and described environmental parameter constitute, according to described controlled variable, operational factor calculated adhesion coefficient, analyze the adhesion factor of this locomotive according to described environmental parameter.
Also comprise in this step, described far-end computer can also obtain the environmental parameter of environment server, calculate the adhesion factor of this locomotive according to described controlled variable, operational factor, and the combining environmental parameter is analyzed the adhesion factor under various environmental baselines, for example analyze adhesion factor and when snowing, what are, when rainy, what are, so that calculating, later tractive force formulates movement plan, for example determine to draw quality, travelling speed and working time, and can be used for the control of tractive force or damping force.
Be illustrated in figure 2 as the pick-up unit structural representation of a kind of adhesion factor of the present invention.
Comprise acquiring unit 201, transmitting element 202.
Described acquiring unit 201 is used to obtain controlled variable real-time on the locomotive of operation and operational factor, and described controlled variable and operational factor are stored in the index file according to time sequencing.
Wherein controlled variable and the operational factor description among the method embodiment as described above.
Described transmitting element 202 is used for when the operational factor of described locomotive satisfies predetermined condition described index file being sent.
As the further embodiment of the present invention, acquiring unit 201 can be connected with the MVB network on the locomotive, obtain the controlled variable and the operational factor of locomotive upper sensor by this MVB network, also can be connected and obtain controlled variable and operational factor with the traction control unit on the locomotive.
Can also comprise environmental parameter acquiring unit 203, be used to obtain the environmental parameter of locomotive operation, and described environmental parameter is stored in the described index file, wherein said environmental parameter is as the description among the method embodiment.
Comprise further in the described transmitting element 202 that first judge module 2021 when arbitrary moving axis surpasses first predetermined threshold with the rotating speed difference of dragging axle, then sends described index file.
Further comprise in the described transmitting element 202, second judge module 2022, the difference between any two moving axis rotating speeds surpasses second predetermined threshold, then described index file is sent.
Comprise further in the described transmitting element 202 that the 3rd judge module 2023 when the absolute value of arbitrary moving axis acceleration surpasses the 3rd predetermined threshold, then sends to away described index file.
Comprise further in the described transmitting element 202 that the 4th judge module 2024 is when the wheel that receives locomotive or motor train unit idle running takes place or just described index file is sent during the warning message that slides.
Described transmitting element 202 also comprises the interface of wireless network, by wireless network described index file is sent.
Pass through the foregoing description, gather the controlled variable and the operational factor of real time execution locomotive, can make things convenient for the adhesion factor between later stage calculating actual track and the locomotive, saved the cost of existing detection adhesion factor, and owing to be parameter between actual track and the locomotive, so the adhesion factor that obtains has more with reference to property, helps the tractive force of locomotive, the control of damping force, and can not influence normal production and transport task.
Be illustrated in figure 3 as a kind of system construction drawing that detects adhesion factor of the embodiment of the invention.
Comprise pick-up unit 301, far-end computer 302.
Wherein said pick-up unit 301 further comprises, acquiring unit 3011, transmitting element 3012.
Described acquiring unit 3011 is used to obtain controlled variable real-time on the locomotive of operation and operational factor, and described controlled variable and operational factor are stored in the index file according to time sequencing.Wherein controlled variable and the operational factor description among the method embodiment as described above.
Described transmitting element 3012 is used for when the operational factor of described locomotive arrives predetermined condition described index file being sent to described far-end computer 302.
Described far-end computer 302 is used for calculating according to described index file the adhesion factor of this locomotive.
Can also comprise environment server in the present embodiment, the environmental parameter of described far-end computer 302 during from operation that this environment server obtains locomotive is for use in analysis and the calculating of later stage to adhesion factor.
Adhesion factor is normally defined: the ratio of maximum clinging power and wheel track vertical force, the difference of rim velocity and car speed is called relative sliding velocity.Circumferential force coefficient and relative sliding velocity are usually just like the relation of Fig. 4.As can be seen from Figure 4: than hour (OA section), the circumferential force coefficient between wheel track increases rapidly at relative sliding velocity, and vehicle operating this moment is in little sliding stage; When relative sliding velocity reached the A point, the circumferential force coefficient was a maximal value, and promptly adhesion factor draws clinging power and bring into play best this moment; Relative sliding velocity continues to increase (AB section) subsequently, and the circumferential force coefficient reduces rapidly, cohesion failure, and vehicle operating this moment is in the unstable stage, and just wheel produces and skids or dally.
Below calculate the embodiment of the adhesion factor of locomotive on dry straight rail level under certain speed, be illustrated in figure 5 as locomotive wheel single-wheel simplified structure synoptic diagram for far-end computer.
Can obtain following formula according to shown in Figure 5:
F＝μ·mg (2)
T＝T
mi
g (3)
In the formula: J is the moment of inertia of wheel; T is a drag torque; F is a clinging power; ω
wBe angular speed of wheel; R is the vehicle wheel footpath; μ is the circumferential force coefficient; M is the live axle quality; T
mMoment for the motor generation; i
gRatio of gear for gear case.
With (2), (3) substitution (1):
That is,
Obtain each relative sliding velocity constantly:
v
s＝ω
wR-V (7)
M is the quality of vehicle; F is the resistance that wheel is subjected to; V is a car speed; v
sBe relative sliding velocity.
With circumferential force coefficient and the relative sliding velocity in a period of time before and after the least square fitting idle running, as shown in Figure 4.
Circumferential force coefficient and relative sliding velocity curve are got differential then can be obtained slope k and be:
When k=0, when promptly μ obtains maximal value at the adhesion factor under certain speed under this line condition.
Draw the width of cloth adhesion factor as shown in Figure 6 and the curve map of speed according to the adhesion factor that repeatedly measures under each speed.
Be illustrated in figure 7 as a kind of method flow diagram that detects adhesion factor of the embodiment of the invention.
Step 702 is stored in described controlled variable and operational factor in the index file according to time sequencing.
Step 703 judges whether operational factor satisfies predetermined condition, thinks when idle running takes place locomotive in this example and satisfies predetermined condition, triggers the function that sends index file according to the idle running alerting signal.
Index file in the predetermined amount of time before and after the idle running sends to far-end by the mode of wireless network computing machine will take place in step 704.
Wherein, for example, the index file that finishes in back 2 minutes that can extremely dally in preceding two minutes taking place to dally sends to far-end computer by packet switch (GPRS) network mode.
As preferred embodiment, far-end computer can also obtain the environmental parameter of the environment server transmission of weather bureau, analyzes this adhesion factor according to environmental parameter, makes that the calculating of adhesion factor is more accurate.
The method of the embodiment of the invention, device and system, can detect the controlled variable and the operational factor of locomotive in service, be used for the calculating of adhesion factor, make that the adhesion factor that calculates is more reliable, accurately, be applicable to the track in the true transportation, and avoided obtaining adhesion factor in the prior art and need take the problem that track influences normal transport, utilize the inventive method, the adhesion factor that Apparatus and system obtains can be applied to formulate movement plan in the tractive force calculating, for example determine the traction quality, travelling speed, working time and under adverse weather the stopping distance in when braking, and can be used for the control of tractive force or damping force.
Above-described embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is the specific embodiment of the present invention; and be not intended to limit the scope of the invention; within the spirit and principles in the present invention all, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a method that detects adhesion factor is characterized in that comprising,
Obtain real-time controlled variable and operational factor on the locomotive of operation or the motor train unit, described controlled variable and operational factor are stored in the index file according to time sequencing;
When the operational factor of described locomotive or motor train unit arrives predetermined condition, described index file is sent to far-end computer;
Described computing machine calculates the adhesion factor of this locomotive or motor train unit according to described index file.
2. method according to claim 1, it is characterized in that, after getting access to described controlled variable and operational factor on described locomotive or the motor train unit, comprise that also locomotive or motor train unit obtain current environmental parameter, described environmental parameter is stored in the index file according to time sequencing.
3. method according to claim 1, it is characterized in that, when described operational factor when described locomotive or motor train unit satisfies predetermined condition, described index file sent in the far-end computer comprise, when the operational factor of described locomotive or motor train unit one of meets the following conditions at least, described predetermined condition satisfies:
When arbitrary moving axis surpasses first predetermined threshold with the rotating speed difference of dragging axle, then described index file is sent to far-end computer; Or
Difference between any two moving axis rotating speeds surpasses second predetermined threshold, then described index file is sent to described far-end computer; Or
When the absolute value of arbitrary moving axis acceleration surpasses the 3rd predetermined threshold, then described index file is sent to far-end computer; Or
When the wheel that receives locomotive or motor train unit idle running takes place or described index file sent to far-end computer during the warning message that slides.
4. method according to claim 1, it is characterized in that, in calculating the adhesion factor of this locomotive or motor train unit according to described index file, described computing machine also comprises, described far-end computer obtains the environmental parameter of environment server, analyzes the adhesion factor of this locomotive or motor train unit according to described environmental parameter.
5. the pick-up unit of an adhesion factor is characterized in that comprising,
Acquiring unit is used to obtain real-time controlled variable and operational factor on the locomotive of operation or the motor train unit, and described controlled variable and operational factor are stored in the index file according to time sequencing;
Transmitting element is used for when the operational factor of described locomotive or motor train unit satisfies predetermined condition described index file being sent, to calculate the adhesion factor of this locomotive or motor train unit according to described index file.
6. device according to claim 5 is characterized in that, described acquiring unit is connected with MVB network on locomotive or the motor train unit, obtains controlled variable and operational factor on locomotive or the motor train unit by this MVB network;
Perhaps be connected, obtain controlled variable and operational factor with traction control unit on locomotive or the motor train unit.
7. device according to claim 5 is characterized in that, also comprises the environmental parameter acquiring unit, is used to obtain the environmental parameter of locomotive or motor train unit operation, and described environmental parameter is stored in the described index file.
8. device according to claim 5 is characterized in that, comprises at least in the described transmitting element with one of lower module,
First judge module when arbitrary moving axis surpasses first predetermined threshold with the rotating speed difference of dragging axle, then sends described index file; Or
Second judge module, the difference between any two moving axis rotating speeds surpasses second predetermined threshold, then described index file is sent; Or
The 3rd judge module when the absolute value of arbitrary moving axis acceleration surpasses the 3rd predetermined threshold, then sends to away described index file; Or
The 4th judge module is when the wheel that receives locomotive or motor train unit idle running takes place or described index file is sent during the warning message that slides.
9. a system that detects adhesion factor is characterized in that comprising pick-up unit and far-end computer,
Described pick-up unit, be used to obtain real-time controlled variable and operational factor on the locomotive of operation or the motor train unit, described controlled variable and operational factor are stored in the index file according to time sequencing, and when the operational factor of described locomotive or motor train unit arrives predetermined condition, described index file is sent to described far-end computer;
Described far-end computer is used for calculating according to described index file the adhesion factor of this locomotive or motor train unit.
10. system according to claim 9 is characterized in that also comprising environment server, and described far-end computer obtains environmental parameter from described environment server, analyzes described adhesion factor in conjunction with described environmental parameter.
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| CN103034129B (en) * | 2012-12-07 | 2016-02-03 | 中国铁路总公司 | A kind of emulation mode being applicable to rail vehicle traction control |
| CN104442841B (en) * | 2014-11-03 | 2017-01-18 | 南车株洲电力机车研究所有限公司 | Adhesion control method and system for stably outputting vehicle traction |
| EP3168111A1 (en) * | 2015-11-11 | 2017-05-17 | KNORR-BREMSE Systeme für Schienenfahrzeuge GmbH | Control system with adhesion map for rail vehicles |
| CN105416268B (en) * | 2015-12-03 | 2018-06-12 | 南车株洲电力机车有限公司 | A kind of rolling stock adhesion coefficient tests system |
| CN108120534A (en) * | 2017-11-06 | 2018-06-05 | 博迈科海洋工程股份有限公司 | Large-scale slide module stress monitoring method |
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