CN104697807A - Intermittent fault detection method for high-speed train pantograph - Google Patents

Abstract

The invention discloses an intermittent fault detection method for a high-speed train pantograph. The intermittent fault detection method for the high-speed train pantograph includes that step 1, constructing a first kinetic model based on a pantograph structure, wherein the first kinetic model is the kinetic model of the pantograph under the intermittent fault influence; step 2, acquiring a truncation residual signal corresponding to the intermittent fault design based on the first kinetic model; step 3, detecting whether the pantograph occurs intermittent fault according to the truncation residual signal. Compared with the prior art, the intermittent fault detection method constructs a model which better conforms to the practical situation of the intermittent fault of the pantograph, and the intermittent fault detection method is capable of more precisely detecting the intermittent fault.

Description

A kind of high-speed train pantograph intermittent fault detection method

Technical field

The present invention relates to field of track traffic, relate to a kind of high-speed train pantograph intermittent fault detection method specifically.

Background technology

Current, bullet train utilizes pantograph to obtain energy from contact net.For realizing bullet train high speed, safety, reliability service, pantograph must obtain stable energy under complicated service condition.In order to obtain steady, good current carrying quality, pantograph must meet with contact net all the time good contact, contact static pressure constant, longitudinally do not move, bow maintains the functional requirements such as horizontality.Therefore, pantograph structurally takes nonlinear suspension, and structure is very complicated, and the rod members such as pin joint are numerous.

Because bullet train running environment is severe, running status change is violent, therefore along with the growth of vehicle hour, the materials and structures of many key components of pantograph can produce fatigue, and performance can be degenerated gradually, causes crackle, fracture thus cause intermittent fault.In order to improve the safety and reliability that bullet train runs, need the generation of the intermittent fault determining high-speed train pantograph in time to take to maintain measure accordingly.

Because the generation of intermittent fault and disappearance have certain random character, fault amplitude is unknown, and the impact caused system is less, and therefore traditional detection method for permanent fault is difficult to directly apply to intermittent fault diagnosis.Moreover the complicacy of pantograph structure increases the detection difficulty of intermittent fault further.Thus the promptness of the fault detect of intermittent fault under causing current techniques environment, accuracy and validity are all undesirable.

Therefore, detect Problems existing for current high-speed train pantograph intermittent fault, need a kind of new intermittent fault detection method method with more accurately, in time, effectively detect intermittent fault.

Summary of the invention

Detect Problems existing for current high-speed train pantograph intermittent fault, the invention provides a kind of high-speed train pantograph intermittent fault detection method, described method comprises following steps:

Step one, the structure based on pantograph constructs the first kinetic model, and described first kinetic model is the kinetic model of described pantograph under intermittent fault impact;

Step 2, obtains based on described first kinetic model and corresponding with described intermittent fault blocks residual signals;

Step 3, detects described pantograph whether intermittent fault occurs according to the described residual signals that blocks.

In one embodiment, described step one comprises following steps:

Kinetic model constitution step, constructs the second kinetic model of described pantograph according to the structure of described pantograph, described second kinetic model is time-varying system model;

Linear transformation step, carries out linear transformation to described second kinetic model thus obtains described first kinetic model.

In one embodiment, described kinetic model constitution step comprises following steps:

The structure of described pantograph is reduced to and is hung by bow, upper frame and underframe three masses the pantograph structural system formed by multi stage resilient;

Based on normalized wave function modelling, variation rigidity-ternary quality model is adopted to analyze according to described pantograph structural system structure bow net kinetics equation;

Described bow net kinetics equation is introduced in the impact of unknown disturbance, process noise, measuring error and described intermittent fault thus obtains described second kinetic model, wherein, described unknown disturbance comprises air turbulence, and it is uncertain that the Crack cause of described process noise and described measuring error comprises environmental change that locomotive high-speed cruising causes, electromagnetic interference (EMI) and track.

In one embodiment, described step 2 comprises following steps:

Structure Residual Generation device step, the structure based on described pantograph constructs Residual Generation device according to described first kinetic model for described intermittent fault;

Equationof structure formula step, based on the reconstruct equation blocking residual signals described in described Residual Generation device structure;

Obtain signal value step, obtain the real input signal value of described pantograph and outputting measurement value thus the reconstruct equation blocking residual signals described in utilizing according to described real input signal value and described outputting measurement value obtain described in block the signal value of residual signals.

In one embodiment, in described structure Residual Generation device step, described Residual Generation device is designed according to method of geometry, the residual signals that described Residual Generation device generates all realizes decoupling zero with the unknown disturbance in described first kinetic model and unknown time-varying parameter, and the residual signals of described Residual Generation device generation is relevant to described intermittent fault.

In one embodiment, described equationof structure formula step comprises following steps:

Design based on described Residual Generation device block residual signals equation by introducing sliding time window, thus obtain with blocking residual signals equation described in sliding time window;

Based on blocking the equational structural information of residual signals described in the analysis of described Residual Generation device and obtaining analysis result;

Based on described analysis result, the described residual signals equation that blocks is reconstructed thus the reconstruct equation blocking residual signals described in acquisition.

In one embodiment, described step 3 comprises following steps:

Require to propose test of hypothesis for described intermittent fault and detection perform, described detection perform comprises rate of false alarm and rate of failing to report;

The detection threshold of described intermittent fault is obtained according to described test of hypothesis;

The relation between residual signals and described detection threshold of blocking described in analysis is to judge whether described pantograph intermittent fault occurs.

In one embodiment, described test of hypothesis comprises second test of hypothesis in the first test of hypothesis for the generation moment of described intermittent fault and the disappearance moment for described intermittent fault.

In one embodiment, described method also comprises step 4, analyzes the detection perform of described method, thus obtains detection perform analysis result.

In one embodiment, in described step 3, determine the generation moment of described intermittent fault or disappear the moment.

Compared to prior art, intermittent fault detection method of the present invention constructs the model more meeting pantograph intermittent fault actual conditions, can detect the generation of intermittent fault more accurately.

Further feature of the present invention or advantage will be set forth in the following description.Further, Partial Feature of the present invention or advantage will be become apparent by instructions, or be understood by implementing the present invention.Object of the present invention and certain advantages realize by step specifically noted in instructions, claims and accompanying drawing or obtain.

Accompanying drawing explanation

Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for instructions, with embodiments of the invention jointly for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:

Fig. 1 is the detection method process flow diagram of one embodiment of the invention;

Fig. 2 is process noise signal under pantograph system simulated environment;

Fig. 3 is measurement noises signal under pantograph system simulated environment;

Output signal when Fig. 4 is Non-intermittent fault effects under pantograph system simulated environment;

Fig. 5 is output signal when intermittent fault affects under pantograph system simulated environment;

Fig. 6 is the intermittent fault testing result of pantograph system.

Embodiment

Embodiments of the present invention are described in detail below with reference to drawings and Examples, enforcement personnel of the present invention whereby can fully understand how application technology means solve technical matters in the present invention, and reach the implementation procedure of technique effect and specifically implement the present invention according to above-mentioned implementation procedure.It should be noted that, only otherwise form conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other, and the technical scheme formed is all within protection scope of the present invention.

In order to obtain steady, good current carrying quality, high-speed train pantograph structurally takes nonlinear suspension, and structure is very complicated, and the rod members such as pin joint are numerous.And because bullet train running environment is severe, change is violent, and along with the growth of vehicle hour, therefore the materials and structures of many key components of pantograph can produce fatigue, and performance can be degenerated gradually, cause crackle, fracture thus cause intermittent fault.

In order to realize the detection of the intermittent fault to high-speed train pantograph, the invention provides a kind of high-speed train pantograph intermittent fault detection method.Next describe the implementation of detection method of the present invention in detail based on accompanying drawing, the step shown in the process flow diagram of accompanying drawing can perform in the computer system comprising such as one group of computer executable instructions.Although show the logical order of each step in flow charts, in some cases, can be different from the step shown or described by order execution herein.

Perform the kinetic model that first intermittent fault detection method of the present invention will construct pantograph.In Fig. 1 in dotted line frame 101 is exactly the process of kinetic model of structure pantograph.First step S110 is performed, according to the bow net kinetics equation of the structure structure pantograph of pantograph in the process of the kinetic model of structure pantograph.In the present embodiment, first hung by bow, upper frame and underframe three masses the pantograph structural system formed based on described pantograph being reduced to the structure analysis of pantograph by multi stage resilient; Then based on normalized wave function modelling, adopt the analysis of variation rigidity-ternary quality model, be constructed as follows the bow net kinetics equation shown in formula (formula 1-3) according to the pantograph structural system after simplifying.

$m_1{\stackrel{\·\·}{z}}_1+k_1(z_1-z_2)+c_1({\stackrel{\·}{z}}_1-{\stackrel{\·}{z}}_2)+k\left(t\right)z_1=f_{\mathrm{areo}}\left(t\right)$

$m_2{\stackrel{\·\·}{z}}_2+k_1(z_2-z_1)+k_2(z_2-z_3)+c_1({\stackrel{\·}{z}}_2-{\stackrel{\·}{z}}_1)+c_2({\stackrel{\·}{z}}_2-{\stackrel{\·}{z}}_3)=0$

$m_3{\stackrel{\·\·}{z}}_3+k_2(z_3-z_2)+k_3(z_3-z_2)+c_2({\stackrel{\·}{z}}_3-{\stackrel{\·}{z}}_2)+c_3({\stackrel{\·}{z}}_3-{\stackrel{\·}{z}}_r)=f_{\mathrm{static}}---(1-3)$

Wherein: m ₁, m ₂, m ₃the quality of each part mentioned above respectively;

K ₁, k ₂, k ₃the stiffness coefficient of each part mentioned above respectively;

C ₁, c ₂, c ₃the ratio of damping of each part mentioned above respectively;

Z _rfor the displacement excitation of car body;

K (t) is contact net equivalent stiffness;

F _staticfor Static Contact pressure, it is known parameters;

F _areot () is air turbulence power, be unknown disturbance.

Following execution step S111, tectonodynamics model.According to the kinetic model of the bow net kinetics equation structure pantograph of formula 1-3.Get state limit amount $X={\left[\begin{array}{cccccc}{z}_1& {\stackrel{\·}{z}}_1& z_2& {\stackrel{\·}{z}}_2& z_3& {\stackrel{\·}{z}}_3\end{array}\right]}^T,$ Formula 1-3 can be converted into following state space equation form

$\stackrel{\·}{X}\left(t\right)=A\left(t\right)X\left(t\right)+\mathrm{Bu}\left(t\right)+{\mathrm{Df}}_{\mathrm{aero}}\left(t\right)---\left(4\right)$

In order to obtain good current carrying quality, pantograph must meet a lot of functional requirement at bullet train operational process, so its structure is very complicated, the rod members such as pin joint are very many, very easily cause pantograph generation intermittent fault because overtired, design defect or technique make the factors such as imperfection.We consider intermittent fault as general in next class

$f\left(t\right)=\underset{q=1}{\overset{\∞}{\mathrm{\Σ}}}[\mathrm{\Γ}(t-{\mathrm{\μ}}_q)-\mathrm{\Γ}(t-v_q)]\·f\left(q\right)---\left(5\right)$

Wherein, Γ () is step function, μ _q, v _qrepresent the generation moment of intermittent fault the unknown respectively and disappear the moment, f (q) is the fault amplitude of q intermittent fault the unknown.

The environmental change caused soon due to bullet train travelling speed, electromagnetic interference (EMI) and track are uncertain etc. can cause process noise and measuring error.Also there is unknown disturbance (mainly considering air turbulence in the present embodiment) in Pantograph-OCS system simultaneously.Consider that the impact that process noise, measuring error, unknown disturbance and intermittent fault cause bullet train system (affects displacement, the speed that can be expressed as in X (t), it all can be measured), by unknown disturbance, process noise, measuring error and intermittent fault introduction-type 2 thus obtain kinetic model.

In the process

$\stackrel{\·}{X}\left(t\right)=A\left(t\right)X\left(t\right)+\mathrm{Bu}\left(t\right)+L_{1}f\left(t\right)+{\mathrm{Df}}_{\mathrm{aero}}\left(t\right)+w\left(t\right)$

Y(t)＝CX(t)+v(t) (6)

Wherein:

$A=\left[\begin{array}{cccccc}0& 1& 0& 0& 0& 0\\ -\frac{k_1+k\left(t\right)}{m_1}& -\frac{c_1}{m_1}& \frac{k_1}{m_1}& \frac{c_1}{m_1}& 0& 0\\ 0& 0& 0& 1& 0& 0\\ \frac{k_1}{m_2}& \frac{c_1}{m_2}& -\frac{k_1+k_2}{m_2}& -\frac{c_1+c_2}{m_2}& \frac{k_2}{m_2}& \frac{c_2}{m_2}\\ 0& 0& 0& 0& 0& 1\\ 0& 0& \frac{k_2}{m_3}& \frac{c_2}{m_3}& -\frac{k_2+k_3}{m_3}& -\frac{c_2+c_3}{m_3}\end{array}\right]$

$B={\left[\begin{array}{cccccc}0& 0& 0& 0& 0& \frac{1}{m_3}\end{array}\right]}^T,L_1=B,C=\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 1& 0& 0& 0& 0\\ 0& 0& 1& 0& 0& 0\\ 0& 0& 0& 1& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]$

$D={\left[\begin{array}{cccccc}0& \frac{1}{m_1}& 0& 0& 0& 0\end{array}\right]}^T$

In formula, the measuring-signal that Y (t) is pantograph;

The process noise of w (t) for being caused by environmental change, track irregularity, electromagnetic interference (EMI) etc.;

for bullet train is to the input signal of pantograph;

The random meausrement error that v (t) is sensor.

Consider the impact of dropper, contact net rigidity at each across inner and across being all change, be difficult to accurately know its true value, but, because the structure influence of this contact net time-varying rigidity to bow net Mechanical & Electrical Combination System is determined, therefore, based on said system structure, linear transformation can be carried out to the time-varying system of formula 6.Therefore next perform step S112, linear transformation step, carries out linear transformation to the kinetic model of formula 6.

Order

$s\left(t\right)\stackrel{\mathrm{\Δ}}{=}(a_1{h}_1+a_2{h}_2^2+a_3{h}_1^2+a_4{h}_3^2+a_5{h}_4^2),$ k(t)＝k ₀+k ₀s(t)，

Then

A(t)＝A ₀+s(t)A ₁，

So have

$\stackrel{\·}{X}\left(t\right)=[A_0+s\left(t\right)A_1]X\left(t\right)+\mathrm{Bu}\left(t\right)+L_{1}f\left(t\right)+D{f}_{\mathrm{aero}}+w\left(t\right)$

Y(t)＝CX(t)+v(t) (7)

Wherein: k ₀for mean rigidity ( k _max, k _minbe respectively maximum in contact net span, minimum rigidity);

A ₁for

$A_1=\left[\begin{array}{cccccc}0& 0& 0& 0& 0& 0\\ -\frac{k_0}{m_1}& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0\end{array}\right].$

Order

n(t)＝s(t)x ₁(t)，

So can obtain

$\stackrel{\·}{X}\left(t\right)=A_{0}X\left(t\right)+\mathrm{Bu}\left(t\right)+L_{1}f\left(t\right)+L_{2}n\left(t\right)+D{f}_{\mathrm{aero}}\left(t\right)+w\left(t\right)$

Y(t)＝CX(t)+v(t) (8)

In formula, $L_2={\left[\begin{array}{cccccc}0& -\frac{k_0}{m_1}& 0& 0& 0& 0\end{array}\right]}^T,$ C＝I ₆

Compared to prior art, intermittent fault detection method of the present invention constructs the model (formula 8) more meeting pantograph intermittent fault actual conditions, can detect the generation of intermittent fault more accurately.

Next just indirect fault detect can be carried out based on formula 8 pairs of pantographs.The unknown time-varying parameter of utilization of the present invention and pantograph system and the residual signals of unknown disturbance decoupling zero check pantograph system whether intermittent fault to occur.Need to obtain the signal value (step dotted line frame 102 in) that block residual signals relevant with intermittent fault before detection failure.

In the present embodiment, first perform step S120, structure Residual Generation device, based on above-mentioned pantograph structure, the kinetic model according to formula 8 constructs Residual Generation device for intermittent fault.Unknown disturbance in the kinetic model of the residual signals that Residual Generation device generates and formula 8 and unknown time-varying parameter all realize decoupling zero, and the residual signals that Residual Generation device generates is relevant to the intermittent fault in the kinetic model of formula 8.

In the present embodiment, the construction process of Residual Generation device is as follows:

(a, calculating comprise (ImD+ImL ₂) (C, A) condition invariant subspace W ^*, algorithm is as follows:

$\mathrm{CAISA}:\left\{\begin{array}{c}{W}^0=\mathrm{ImD}+\mathrm{Im}{L}_2\\ W^{k+1}=(\mathrm{ImD}+\mathrm{Im}{L}_2)+A(W^k\∩\mathrm{kerC}),\\ W^{*}={\lim }_{k\→+\∞}{W}^k\end{array}\right.---\left(9\right)$

(b, calculating comprise (ImD+ImL ₂) (C, A) unobservable subspace S ^*, algorithm is as follows:

And judge S ^*∩ ImL ₁whether=0 set up, if set up, then Residual Generation device exists;

(c, calculating Canonical mapping P: χ → χ/S ^*;

(d, calculating meet matrix Q;

(e, calculating χ/S ^*abduction mapping A spatially ₀;

(f, utilize ker (HC)=kerC+S ^*compute matrix H;

(g, utilize MP=HC compute matrix M;

(h, utilize G=PB compute matrix G;

(i, utilize K=0 calculating K;

(j, based on calculate Q ₁( dimension for Residual Generation device), based on J=PQ+Q ₁h calculates J.

The Residual Generation device that final acquisition is following

$\stackrel{\·}{w}\left(t\right)=\mathrm{Fw}\left(t\right)-\mathrm{Jy}\left(t\right)+\mathrm{Gu}\left(t\right)$

r(t)＝Mw(t)-Hy(t)+Ku(t) (11)

In formula 11, w (t), r (t) are respectively state variable and the output variable of Residual Generation device, u (t), y (t) are respectively input variable and the output variable of Residual Generation device, and F, J, G, M, H and K are respectively the suitable matrix of coefficients of dimension.

Make each vector residual error r (t) to L ₂the unknown time-varying parameter in direction, the unknown disturbance decoupling zero in D direction, to L ₁the Fault-Sensitive in direction.The value of its partial parameters G, M, H, K is as follows:

$G=\left[\begin{array}{c}0\\ 0\\ 0\\ 0\\ 1\end{array}\right],M=\left[\begin{array}{ccccc}1& 0& 0& 0& 0\\ 0& 1& 0& 0& 0\\ 0& 0& 1& 0& 0\\ 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 1\end{array}\right],H=\left[\begin{array}{cccccc}-1& 0& 0& 0& 0& 0\\ 0& 0& -1& 0& 0& 0\\ 0& 0& 0& -1& 0& 0\\ 0& 0& 0& 0& -1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right],K=\left[\begin{array}{c}0\\ 0\\ 0\\ 0\\ 0\end{array}\right]$

Next just residual signals equation can be blocked based on the Residual Generation device structure of formula 11.

Devise vector by introducing sliding time window in the present embodiment and block residual signals, make to block residual signals and unknown disturbance and unknown time-varying parameter and all realize decoupling zero.First perform step S121, introduce sliding time window step, the Residual Generation device based on formula 11 blocks residual signals equation by introducing sliding time window design.

In step S121, first select suitable parameter lambda to make Residual Generation device be stable, therefore, require λ < 0; The value of λ and the speed of convergence of residual error, minimumly the continuing of intermittent fault/interval time are relevant with minimum amplitude, and the range of choice of the λ that gets parms based on detectability condition, chooses the λ that can meet actual testing requirement within the scope of this.

Then select suitable sliding time window Δ l < δ, to intermittent fault minimum amplitude ρ and minimum continue/interval time minimum value δ exist hypothesis under, order q ₁=(F-A ₀) M ^-r, J=PQ ₀+ PQ ₁h, as parameter value is:

$F=\left[\begin{array}{ccccc}-1& 0& 0& 0& 0\\ 0& -1& 0& 0& 0\\ 0& 0& -1& 0& 0\\ 0& 0& 0& -1& 0\\ 0& 0& 0& 0& -1\end{array}\right],J=\left[\begin{array}{cccccc}1& 1& 0& 0& 0& 0\\ 0& 0& 1& 1& 0& 0\\ 2& 1& -3& -1& 1& 1\\ 0& 0& 0& 0& 1& 1\\ 0& 0& -1& -1& 2& 1\end{array}\right]$

Thus the vector obtained with sliding time window can be designed further block residual signals

$r(t,\mathrm{\&Delta;t})\stackrel{\mathrm{\&Delta;}}{=}r\left(t\right)-e^{\mathrm{\&lambda;\&Delta;t}}r(t-\mathrm{\&Delta;t})---\left(12\right)$

Following the present embodiment will perform step S122, blocks residual signals be reconstructed the vector of formula 12.First block the equational structural information of residual signals based on the Residual Generation device analysis mode 12 of formula 11 and obtain analysis result; Then block residual signals equation based on analysis result reconstruct thus obtain the reconstruct equation blocking residual signals.Concrete execution is:

First according to the relevant design parameter of above-mentioned Residual Generation device, definition column vector

and calculate the value of this column vector.

Whether the element of checking column vector is zero, chooses nonzero element a _j(a _j≠ 0) correspondence position j place block residual signals element r _j(t, Δ t) reconfigure to be formed and new block residual signals

Next just can perform step S123, obtain signal value step, obtain the real output signal of pantograph thus utilize first to block residual signals according to real output signal signal equation obtain signal value.

Just can judge whether pantograph intermittent fault occurs in that moment that signal value is corresponding according to signal value after getting signal value.In whole deterministic process, first perform step S131, propose test of hypothesis for described intermittent fault.Utilize time window [t-Δ t, t] and the relativeness of intermittent fault, adopt the method for residual error ultimate analysis one by one, the statistical property based on residual error proposes the test of hypothesis for detecting intermittent fault.

Intermittent fault is divided into three phases: occur in moment, intermittent fault, disappear the moment.Detect intermittent fault rate of false alarm and rate of failing to report for reducing, in the present embodiment, the generation moment respectively for intermittent fault proposes two test of hypothesis for detecting the generation moment of intermittent fault and disappearing the moment with the moment that disappears.

A) for L ₁there is the test of hypothesis in moment in direction intermittent fault

Wherein, represent the expectation of stochastic variable.

B) for L ₁the test of hypothesis in direction intermittent fault disappearance moment

Wherein, k (ρ _s) represent the amount relevant to fault amplitude ρ.

Following execution step S132, obtains the detection threshold of described intermittent fault according to above-mentioned test of hypothesis.First detection level γ, θ of given two test of hypothesis, then calculate its acceptance domain respectively with calculate variances sigma (Δ t), according to analytical expression, can L be obtained ₁there is the detection threshold in moment and be in direction fault of having a rest according to analytical expression, can L be obtained ₁the detection threshold in direction intermittent fault disappearance moment is

In the present embodiment, according to the physical characteristics of intermittent fault, obviously the absolute value having intermittent fault that moment threshold value occurs is less than the absolute value of intermittent fault disappearance moment threshold value, when intermittent fault occurs, there is the generation that moment threshold value first detects fault, and can ensure to detect this generation moment before intermittent fault disappears; Before intermittent fault disappears, think and be in intermittent fault generating process; When intermittent fault disappears, the moment threshold value that disappears first detects the disappearance of fault, and can ensure the disappearance moment detecting this intermittent fault before upper once intermittent fault occurs.

Finally just can perform step S133, analyze the relation between described signal value and described detection threshold and obtain analysis result, whether pantograph there is intermittent fault to utilize analysis result to judge.

Monitoring value, by judge with with relation judge generation and the disappearance of intermittent fault, even then L ₁there is intermittent fault in direction, if then L ₁direction intermittent fault disappears.

To sum up, compared to prior art, intermittent fault detection method of the present invention constructs the model more meeting pantograph intermittent fault actual conditions, can detect the generation of intermittent fault more accurately.

In the present embodiment, due to value be carry out calculating based on the output signal of pantograph obtaining, therefore intermittent fault detection method of the present invention just can determine generation moment or the disappearance moment of intermittent fault by the moment corresponding to the output signal of pantograph.Monitor pantograph system in real time, when judging that intermittent fault occurs or disappears, the Real-time Obtaining moment of the output signal of corresponding pantograph is the generation moment of intermittent fault or disappears the moment.

In order to be further analyzed judge to the security of pantograph system, also comprise step S140 in the detection method of the present embodiment, the detection perform of testing process is analyzed, thus obtain analysis result.

The detection level of acceptance domain is the level of significance of test of hypothesis in mathematical statistics subject, and namely null hypothesis is set up, but testing result refuses the small probability (being the rate of false alarm that the moment occurs fault and the moment that disappears is detected in an embodiment) of null hypothesis.

Choosing of the detection level of acceptance domain is general according to the actual requirement to fault detect rate of false alarm, but according to Niemann-Pierre pine criterion, the rate of false alarm of test of hypothesis and rate of failing to report can not reach minimum simultaneously, therefore, the choosing of detection level of acceptance domain can not be too small, also will consider the requirement to rate of failing to report under actual conditions.

Based on above-mentioned theory, in the present embodiment, first residual signals is blocked to this the performance evaluation detected for intermittent fault gives following notional result:

1) given insolation level γ, θ, quantitatively can try to achieve L ₁the rate of false alarm that moment occurs direction intermittent fault is $P_1\&le;\tilde{n}\mathrm{\&gamma;};$

2) given insolation level γ, θ, quantitatively can try to achieve L ₁the rate of failing to report that moment occurs direction intermittent fault is P ₂< θ;

3) given insolation level γ, θ, quantitatively can try to achieve L ₁the rate of false alarm that moment occurs direction intermittent fault is $\mathrm{\&theta;}\&le;P_3\&le;\tilde{n}\mathrm{\&theta;};$

4) given insolation level γ, θ, quantitatively can try to achieve L ₁the rate of failing to report that moment occurs direction intermittent fault is P ₄≤ γ.

Next the Detection results of detection method of the present invention is verified by a concrete analog simulation example.First the analog simulation environment of pantograph system is built.In the present embodiment, based on Simulink simulation building bullet train pantograph system and utilize detection method of the present invention to devise residual error, carried out the detection of intermittent fault.

Be respectively process noise signal and the measurement noises signal of above-mentioned high-speed train pantograph analogue system shown in Fig. 2 and Fig. 3, be the zero mean Gaussian white noise that separate covariance is known, horizontal ordinate is the time, and ordinate is signal amplitude.Fig. 2 is the process noise signal of pantograph system, and Fig. 3 is the measurement noises signal of pantograph system.

Fig. 4 and Figure 5 shows that based under same analog simulation environment this pantograph output signal, horizontal ordinate is the time, and ordinate is signal amplitude.Wherein Fig. 4 affects lower pantograph output signal for not having intermittent fault, and Fig. 5 is pantograph system output signal under intermittent fault impact.

Fig. 6 is intermittent fault signal graph, and horizontal ordinate is the time, and ordinate is intermittent fault amplitude.The concrete situation of change (intermittent fault amplitude) of system output signal and the time of origin (the column curve 601 of Fig. 6) of intermittent fault when the figure of comparison diagram 4 and Fig. 5 can obtain pantograph generation intermittent fault.

Based on detection method of the present invention, a situation arises to utilize the output signal (Fig. 3) of pantograph system under intermittent fault impact and input signal to detect intermittent fault according to the process noise signal (Fig. 2) of pantograph system and measurement noises signal (Fig. 3).The high-speed train pantograph system intermittent fault testing result as shown in column curve 602 in Fig. 6 can be obtained.

Intermittent fault signal graph 601 in comparison diagram 6 and testing result figure 602 can find, it is substantially identical to there is moment and disappearance moment and actual conditions in the intermittent fault obtained by fault detection method of the present invention: after above-mentioned high-speed train pantograph system generation intermittent fault, the detection method that the present invention proposes can (before intermittent fault disappears) very fast generation detecting intermittent fault, after intermittent fault disappears, the detection method that the present invention proposes can (before upper once intermittent fault occurs) very fast disappearance detecting intermittent fault.Intermittent fault testing result of the present invention has higher accuracy, can meet the requirement that intermittent fault detects.

Although embodiment disclosed in this invention is as above, the embodiment that described content just adopts for the ease of understanding the present invention, and be not used to limit the present invention.Method of the present invention also can have other various embodiments.When not deviating from essence of the present invention, those of ordinary skill in the art are when making various corresponding change or distortion according to the present invention, but these change accordingly or are out of shape the protection domain that all should belong to claim of the present invention.

Claims (10)

1. a high-speed train pantograph intermittent fault detection method, is characterized in that, described method comprises following steps:

Step one, the structure based on pantograph constructs the first kinetic model, and described first kinetic model is the kinetic model of described pantograph under intermittent fault impact;

Step 2, obtains based on described first kinetic model and corresponding with described intermittent fault blocks residual signals;

Step 3, detects described pantograph whether intermittent fault occurs according to the described residual signals that blocks.

2. the method for claim 1, is characterized in that, described step one comprises following steps:

Kinetic model constitution step, constructs the second kinetic model of described pantograph according to the structure of described pantograph, described second kinetic model is time-varying system model;

Linear transformation step, carries out linear transformation to described second kinetic model thus obtains described first kinetic model.

3. method as claimed in claim 2, it is characterized in that, described kinetic model constitution step comprises following steps:

The structure of described pantograph is reduced to and is hung by bow, upper frame and underframe three masses the pantograph structural system formed by multi stage resilient;

Based on normalized wave function modelling, variation rigidity-ternary quality model is adopted to analyze according to described pantograph structural system structure bow net kinetics equation;

Described bow net kinetics equation is introduced in the impact of unknown disturbance, process noise, measuring error and described intermittent fault thus obtains described second kinetic model, wherein, described unknown disturbance comprises air turbulence, and it is uncertain that the Crack cause of described process noise and described measuring error comprises environmental change that locomotive high-speed cruising causes, electromagnetic interference (EMI) and track.

4. the method for claim 1, is characterized in that, described step 2 comprises following steps:

Structure Residual Generation device step, the structure based on described pantograph constructs Residual Generation device according to described first kinetic model for described intermittent fault;

Equationof structure formula step, based on the reconstruct equation blocking residual signals described in described Residual Generation device structure;

Obtain signal value step, obtain the real input signal value of described pantograph and outputting measurement value thus the reconstruct equation blocking residual signals described in utilizing according to described real input signal value and described outputting measurement value obtain described in block the signal value of residual signals.

5. method as claimed in claim 4, it is characterized in that, in described structure Residual Generation device step, described Residual Generation device is designed according to method of geometry, the residual signals that described Residual Generation device generates all realizes decoupling zero with the unknown disturbance in described first kinetic model and unknown time-varying parameter, and the residual signals of described Residual Generation device generation is relevant to described intermittent fault.

6. method as claimed in claim 4, it is characterized in that, described equationof structure formula step comprises following steps:

Design based on described Residual Generation device block residual signals equation by introducing sliding time window, thus obtain with blocking residual signals equation described in sliding time window;

Based on blocking the equational structural information of residual signals described in the analysis of described Residual Generation device and obtaining analysis result;

Based on described analysis result, the described residual signals equation that blocks is reconstructed thus the reconstruct equation blocking residual signals described in acquisition.

7. the method for claim 1, is characterized in that, described step 3 comprises following steps:

Require to propose test of hypothesis for described intermittent fault and detection perform, described detection perform comprises rate of false alarm and rate of failing to report;

The detection threshold of described intermittent fault is obtained according to described test of hypothesis;

The relation between residual signals and described detection threshold of blocking described in analysis is to judge whether described pantograph intermittent fault occurs.

8. method as claimed in claim 7, it is characterized in that, described test of hypothesis comprises second test of hypothesis in the first test of hypothesis for the generation moment of described intermittent fault and the disappearance moment for described intermittent fault.

9. the method for claim 1, is characterized in that, described method also comprises step 4, analyzes the detection perform of described method, thus obtains detection perform analysis result.

10. method as claimed in any one of claims 1-9 wherein, is characterized in that, determines the generation moment of described intermittent fault or disappear the moment in described step 3.