CN104923840B - A kind of rail milling operation control method - Google Patents
A kind of rail milling operation control method Download PDFInfo
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- CN104923840B CN104923840B CN201510372772.2A CN201510372772A CN104923840B CN 104923840 B CN104923840 B CN 104923840B CN 201510372772 A CN201510372772 A CN 201510372772A CN 104923840 B CN104923840 B CN 104923840B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/002—Milling elongated workpieces
- B23C3/005—Rails
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/26—Fluid-pressure drives
- B23Q5/261—Fluid-pressure drives for spindles
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
The invention discloses a kind of rail milling operation control method, system includes：Milling disk, lateral register sensor, milling disk framework, positioning boots, Z-direction hoist cylinder and spindle motor.Control method includes：Vertical and lateral register is carried out to milling disk, milling disk carries out milling operation to rail；The pressure value of positioning boots is detected and adjusted, realizes that the pressure of positioning boots is constant；Control the rotation speed constant of spindle motor；The operation zero point of milling disk is adjusted by positioning the pressure value of boots and the detected value of lateral register sensor, the vertical and lateral model- following control of milling disk is realized.The present invention solves existing mode and is difficult to detect actual cut amount, and corresponding power is difficult to constant under desired cut amount, and the precision of milling operation is low, error is big, it is impossible to meet the technical problem of Track regularity requirement.
Description
Technical field
The present invention relates to m of w electric system of engineering machinery control field, rail milling is applied to more particularly, to one kind
Grind the rail milling operation control method of car.
Background technology
Rail milling car be it is a kind of suitable for rail it is preventative and regulation property upkeep operation railway maintenance machinery, by right
The milling operation of rail can realize following target：Improve rail longitudinal smoothness and cross-sectional outling quality (reduces rail mill
Consumption, improves wheel/rail contact geometric state, reduces wheel track relative wear)；Improve rail service life；Reduce rail maintenance cost and
Recycle cost；Reduction operation noise improves road network operation safety and efficiency of operation.Rail milling car is a kind of portable milling
And abrasive machine, it is mechanical itself to pass through the driving profiling of the control units such as leading screw, servomotor, motor from during traveling
Milling disk, profiling mill carry out milling and grinding to rail fixed on circuit.
China railways pass through multiple speed raising, and train running speed greatly improved, the index such as this smooth degree to rail
Propose rigors.To meet this requirement, need periodically to carry out repair to Rail Surface, to eliminate side grinding, the ripple of rail
The defects such as mill, rolling layers, crack, stripping, recover the design shape of rail head working portion, improve rail service life, reduction fortune
Row noise, improves the safety in operation of train.Traditional large-scale rail trimming device is based on rail grinding train, and the car passes through
Rail trimming is carried out with the grinding operating system of polish motor and emery wheel composition, there is Operation control inaccurately, homework precision is low,
Without dust collect plant, environmental pollution is serious, can only be the shortcomings of main line railway is used.Customer requirement function is stronger, more efficient, more
The solution of environmental protection.Rail milling car is the online trimming device of a kind of novel steel rail produced in this context, is innovatively made
The repair mode combined with milling operation with mill operation, can enter Mobile state milling to rail in operation, with Operation control essence
Really, operating efficiency is high, the advantages of environmental pollution is smaller.
Linsinger companies and two, MFL companies that man of rail milling depot only has Austria are manufactured in the world, its
Entire vehicle design, manufacturing technology are blocked to China, and only limitation exports vehicle product to Chinese market.Complete system import Rails In Foreign Countries
Milling car it is expensive, and without independent intellectual property right, it is impossible to be adapted with China railways development trend, can not more realize rail
It is preventative and regulation property upkeep operation.The current country there is no related rail milling car electric control system to research and develop or factory
Business.Rail milling car vehicle controll plant is more, control accuracy requirement high, and inside is included between multiple subsystems, and each subsystem
Function and application conditions are different, therefore need to use different controlled plant and control method.The country is to rail milling Operation control
Technology is also in conceptual phase, the control program do not shaped, and what application was more at present is to use invariable power milling operation scheme
To realize milling, grinding operation.Power limitation control scheme refers to milling or grinding and feeding amount in milling or grinding operation process
As input, input is adjusted as feedback signal in the output current of milling or the spindle motor for being ground operation, works as circuit
The increase of main motor output current is, it is necessary to reduce the amount of feeding when having projection, and when circuit has depression, main motor output current reduces, and needs
Increase the amount of feeding, so as to realize the model- following control of the relative rail of milling apparatus.
Milling, mill apparatus are to rail when invariable power milling operation scheme can theoretically realize rail milling, mill operation
Servo antrol, eliminates shortwave error, and keeps original long wave rail to expand shape, plays the purpose that rail defense is safeguarded.But it is permanent
Power Control has its essence drawback, and one is given after desired cut amount, and actual cut amount is difficult to detect, causes theory of correspondences to cut
Corresponding exact power is difficult to determine under the amount of cutting；Two be it is determined that to using electric current after corresponding exact power under desired cut amount
Evolution of feedback controlling theory is too high to the requirement of real-time of control system, so that the system response time when rail has projection, depression
With operating efficiency formation contradiction, i.e., the system fading margin time is abundant when operation traveling is slow, actual constant milling, grinding power precision
High, error is small, i.e., the system fading margin time is short when operation traveling is fast, and actual constant milling, grinding power precision are low, error is big, from
And cause wave milling, grinding present situation, it is impossible to meet the requirement of Track regularity after operation.
The content of the invention
In view of this, it is an object of the invention to provide a kind of rail milling operation control method, existing invariable power is solved
Milling Operation control mode is difficult to detect that power is difficult to constant, system fading margin response under actual cut amount, given desired cut amount
Slowly, milling homework precision is low, error is big, it is impossible to meet the technical problem of Track regularity requirement after operation.
In order to realize foregoing invention purpose, the technology that the present invention specifically provides a kind of rail milling operation control method is real
Existing scheme, rail milling operation control system includes milling disk, lateral register sensor, milling disk framework, positioning boots, Z-direction lifting oil
Cylinder and spindle motor.The spindle motor drives the milling disk to carry out milling operation, and the milling disk is arranged on by milling disk framework
The middle and lower part of rail milling operation car.The fixing end of the Z-direction hoist cylinder is arranged on the Y below the rail milling operation car
Direction guiding rail bottom, the movable end of the Z-direction hoist cylinder is connected with the milling disk framework, the Z-direction hoist cylinder can with it is described
Milling disk vertically moves up and down.The positioning boots are arranged on the back lower place of the fixing end of the Z-direction hoist cylinder, described lateral fixed
Level sensor is connected by fixing device with the milling disk.
The control method comprises the following steps：
S101：Vertical and lateral register is carried out to the milling disk, the milling disk carries out milling operation to rail；
S102：The pressure value of the positioning boots is detected and adjusted, realizes that the pressure of the positioning boots is constant；
S103：Control the rotation speed constant of the spindle motor；
S104：The milling disk is adjusted by the pressure value of the positioning boots and the detected value of the lateral register sensor
Operation zero point, realizes the vertical and lateral model- following control of the milling disk.
It is preferred that, the rail milling operation control system also includes string of a musical instrument sensor, one end of the string of a musical instrument sensor
The top of the milling disk framework is arranged on, the other end is connected with the fixing end of the Z-direction hoist cylinder.
The step S101 further comprises the coarse positioning process of the milling disk, and the process comprises the following steps：
The string of a musical instrument sensor measures the elongation displacement of the Z-direction hoist cylinder, determines the dropping distance of the milling disk, and
By measurement feedback to milling operation master controller, then by the milling operation main controller controls electrohydraulic servo valve, realize
The catenary motion of the milling disk.When the milling disk drops to the height of rail rail level top setting, the rail is determined
Rail is wide and gauge, complete the coarse positioning to the milling disk.
It is preferred that, the rail milling operation control system also includes angular transducer and servo control mechanism two, the angle
Sensor is arranged on the bottom of the milling disk, can be synchronized with the movement with the milling disk.The servo control mechanism two drives Z axis motor respectively
And y-axis motor.
The step S101 further comprises the fine positioning process of the milling disk, and the process comprises the following steps：
After the rail milling operation control system completes the wide rail rail and gauge measurement, the milling disk and institute
The synchronously decline of Z-direction hoist cylinder is stated, the angular transducer is opened and is pressed on the rail, and the angular transducer is described
Synchronously decline under the drive of milling disk.When the string of a musical instrument sensor detects positioning boots setpoint distance is reached from the rail level of the rail
When, the Z-direction hoist cylinder stops declining, the vertical positioning success of milling disk.The servo control mechanism two drives the milling disk in Y
To the medial movement to the rail, the fine positioning to the milling disk is completed.
It is preferred that, the rail milling operation control system also includes preceding altitude location sensor and rear altitude location is sensed
Device, the preceding altitude location sensor and rear altitude location sensor pass through the fixing device and the bottom phase of the milling disk
Even, and positioned at both sides of the milling disk along the rail horizontal direction.
The step S101 further comprises the completion position fixing process of the milling disk, and the process comprises the following steps：
The milling disk vertically drops to the lower edge of the milling disk to rail level under the drive of the servo control mechanism two
When highly reaching setpoint distance, the milling disk realizes vertical positioning in vertical stop motion.It is described after the completion of vertical positioning
Milling disk is displaced outwardly along Y-direction, and to the middle position of the lateral register sensor, then Y-direction positioning is completed, and is completed to the milling disk
Final positioning.
It is preferred that, the positioning boots include prelocalization boots pressure sensor and rear positioning boots pressure sensor, the rail
Milling operation control system also includes oil cylinder control module and servo control mechanism one.
The step S102 further comprises rail milling operation constant pressure control process, and the process comprises the following steps：
The oil cylinder control module controls the servo control mechanism one to drive the Z-direction hoist cylinder to export constant pressure,
The vertical deviation of the positioning boots is converted to pressure by the prelocalization boots pressure sensor and rear positioning boots pressure sensor.Institute
The pressure value for stating the Z-direction hoist cylinder output during pressure value and milling operation of the oil cylinder control module according to setting is carried out
PID is adjusted.When there are raised or sunken on the rail, the vertical deviation change of the Z-direction hoist cylinder causes described
The change in displacement of prelocalization boots pressure sensor and rear positioning boots pressure sensor, the prelocalization boots pressure sensor is determined with rear
Position boots pressure sensor detects the change of pressure value, and adjusts the defeated of the servo control mechanism one by the oil cylinder control module
Go out, and then the Z-direction hoist cylinder is exported constant pressure.
It is preferred that, the rail milling operation control system also includes motion-control module and single motor drive module, institute
State step S103 and further comprise the spindle motor constant speed control process, the process comprises the following steps：
Single motor drive module drives the spindle motor to maintain constant rotating speed described in the moving control module for controlling,
The spindle motor drives the milling disk to carry out milling operation to the rail.The motion-control module is according to the rotating speed of setting
The tachometer value of the spindle motor feedback carries out PID regulations, the main shaft electricity during value, feed speed value and milling operation
Machine constant linear velocity is run.When tachometer value when setting, amount of feeding increase, the power output of the spindle motor declines, the master
The rotating speed of spindle motor rises.When tachometer value, the amount of feeding when setting reduce, the power output of the spindle motor rises, described
The rotating speed of spindle motor declines.
It is preferred that, the rail milling operation control system also includes Dual-motors Driving module, and the step S104 enters one
Step includes the Z/Y of the milling disk to model- following control control process, and the process comprises the following steps：
Servo control mechanism two maintains constant milling described in Dual-motors Driving module drive described in the moving control module for controlling
The amount of cutting.The oil cylinder control module is anti-according to the amount of feeding of setting, the uneven compliance of rail, and the milling amount of servo control mechanism two
Feedback value carries out PID regulations.The Dual-motors Driving module controls Z axis motor and y-axis motor respectively by the servo control mechanism two.
The vertical milling amount that the servo control mechanism two is exported is carried out by the preceding altitude location sensor and rear altitude location sensor
Feedback, the lateral milling amount that the servo control mechanism two is exported is fed back by the lateral register sensor.
It is preferred that, the rail milling operation control system also includes laser beam detecting sensor, the laser detection sensing
Device is arranged in the fixing device.
Determine that wide and gauge the process of rail of the rail further comprises the steps：
When the milling disk drops to the height of rail rail level top setting, in the drive of the servo control mechanism two
Under, rail milling operation control system controls the laser beam detecting sensor to be scanned the rail.When laser inspection
Survey when sensor detects the inner side of the rail and export a switching signal, when the laser beam detecting sensor detect it is described
A switching signal is exported during the outside of rail, carrying out coding by the motion to the servo control mechanism two determines the rail
Rail exterior feature and gauge.
It is preferred that, the fine positioning process of the milling disk further comprises the steps：
When the servo control mechanism two drive the milling disk medial movement from Y-direction to the rail, it is described in the process
Angular transducer is pressed on the rail level of the rail and slips over the whole R shaped steel track surface of the rail always.When the angle
When the inner side that sensor slides to the rail just produces mutation, the milling disk then stops Y-direction movement, and the angular transducer is received
Return, complete the fine positioning to the milling disk.
It is preferred that, as traveling speed >=1.0km/h of rail milling operation car, the linear velocity of the spindle motor is
260m/min.As the traveling speed ＜ 1.0km/h of rail milling operation car, the linear velocity of the spindle motor is 180m/
min。
By implementing the rail milling operation control method that the invention described above is provided, have the advantages that：
(1) present invention can solve the problem that existing invariable power milling Operation control mode is difficult to detect actual cut amount, correspondence reason
It is difficult to constant, system fading margin low-response by cutting power under cutting output, homework precision is low, error is big, it is impossible to meet line after operation
The technical problem of road ride comfort requirement；
(2) present invention solves effective technology for eliminating circuit shortwave error after rail milling operation car milling operation and asked
Topic, and original circuit long wave rail profile shape is kept, serve the requirement that rail defense is safeguarded.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described.It should be evident that drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other embodiments are obtained according to these accompanying drawings.
Fig. 1 is a kind of system control for embodiment of rail milling operation control system that the inventive method is applied
Structured flowchart；
Fig. 2 is a kind of system architecture of embodiment of rail milling operation control system that the inventive method is applied
Composition schematic diagram；
Fig. 3 is the partial enlargement structural representation of rail milling operation control system in Fig. 2；
Fig. 4 is constant pressure control in a kind of embodiment of rail milling operation control system that the inventive method is applied
The system control principle block diagram of unit processed；
Fig. 5 is main motor turn in a kind of embodiment of rail milling operation control system that the inventive method is applied
The system control principle block diagram of fast control unit；
Fig. 6 be in a kind of embodiment of rail milling operation control system that the inventive method is applied the amount of feeding with
With the system control principle block diagram of control unit；
Fig. 7 is a kind of program flow diagram of embodiment of rail milling operation control method of the present invention；
In figure：Altitude location sensor, 5- before altitude location sensor after 1- milling disks, 2-, 3- laser beam detecting sensors, 4-
It is fixed before boots pressure sensor, 10- to be positioned after lateral register sensor, 6- milling disk frameworks, 7- angular transducers, 8- positioning boots, 9-
Position boots pressure sensor, 11- string of a musical instrument sensors, 12-Z is to hoist cylinder, 13- rail, 14- fixing devices, 15-Y direction guiding rails,
16- oil cylinder control modules, 17- servo control mechanisms one, 18- motion-control modules, the mono- motor drive modules of 19-, 20- spindle motors,
21- Dual-motors Driving modules, 22- servo control mechanisms two, 23- fixing ends, 24- movable ends.
Embodiment
For the sake of quoting and understanding, by the technical term hereinafter used, write a Chinese character in simplified form or abridge and be described below：
PC：Personal Computer, the abbreviation of personal computer；
PLC：Programmable Logic Controller, the abbreviation of programmable logic controller；
IO：Input Output, the abbreviation of input and output；
PROFINET：A kind of automation bus standard based on industrial Ethernet technology；
CAN：Controller Area Network, the abbreviation of Controller Area Network BUS；
PROFIBUS-DP：PROFIBUS-Decentralized Periphery, a kind of high speed, low cost, for equipment
Level control system and distributing I/O communication standard；
PID：Proportional-Integral-Derivative, the abbreviation of PID control parameter；
Rail milling car：Integrated milling on action edge, car body, mill unit can be provided away for itself, Rail Surface is carried out
A kind of railway large-scale maintenance machinery equipment of repair, can eliminate the side grinding of rail, ripple mill by milling, mill operation, roll
The defects such as layer, crack, stripping, recover the design shape of rail head working portion, improve rail service life, reduction operation noise,
Improve the safety in operation of train；
Rail milling operation control system：This system can control left and right milling operation device, left and right milling operation device
Rail can online be repaired by copy milling disk when low constant speed is stable mobile, improve rail longitudinal smoothness and cross-section
Facial contour quality.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, clear, complete description is carried out to the technical scheme in the embodiment of the present invention.Obviously, described embodiment is only
Only it is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the common skill in this area
The every other embodiment that art personnel are obtained under the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
As shown in accompanying drawing 1 to accompanying drawing 7, rail milling operation control method of the present invention and its system applied are given
Specific embodiment, the invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, rail milling operation control system includes milling operation monitoring module, milling operation master controller
With left and right totally two sets of milling operation control units.Milling operation monitoring module uses Industrial PC Computer, with PROFINET and CAN
EBI, milling operation master controller uses the failure to safety PLC of Siemens Company, and its model can be S7 317F-
2PN/DP, or stronger performance PLC.Milling operation monitoring module passes through PROFINET buses and milling operation master controller phase
Even, while network node phase of the milling operation master controller by PROFIBUS_DP buses and left and right milling operation control unit
Even.Milling operation motion-control module one and motion-control module two use the high performance motion controller of Siemens Company, its
Model can be the motion controller of SIMOTION D 435-2PN/DP or other stronger performances, and driving output is using S120 systems
Row servo-driver realizes multiple-axis servo drive control during milling operation.Milling disk location control includes Z (vertical) to positioning and Y-direction
Positioning, Z (vertical) is hydraulically operated to realize to coarse positioning, and Z-direction fine positioning is realized by Z-direction servomotor, Y-direction coarse positioning and essence
Positioning is driven by Y-direction servomotor and realized.
As shown in Figure 2, a kind of specific embodiment of rail milling operation control system, including：
Milling disk 1, the middle and lower part of rail milling operation car is arranged on by milling disk framework, can be real under the drive of Z axis motor
Existing vertical positioning, and lateral register is realized under the drive of y-axis motor, rotation is realized under the drive of spindle motor 20, so that
The milling operation to rail 13 is realized when operation is walked；
Z-direction hoist cylinder 12, fixing end 23 is arranged on the bottom of Y-direction guide rail 15 below rail milling operation car, Z-direction lifting
The movable end 24 of oil cylinder 12 is connected with milling disk framework 6, and Z-direction hoist cylinder 12 can be with milling disk 1 along Z (vertical) to up and down motion；Z-direction liter
The upper end for dropping oil cylinder 12 is movable end 24, and the lower end of Z-direction hoist cylinder 12 is fixing end 23；
Boots 8 are positioned, the back lower place of the fixing end 23 of the Z-direction hoist cylinder 12 are arranged on, for realizing the vertical of milling disk 1
(Z-direction) is positioned；
String of a musical instrument sensor 11, one end is arranged on the top of milling disk framework 6, the fixing end of the other end and Z-direction hoist cylinder 12
23 are connected, the displacement for measuring Z-direction hoist cylinder 12；
Angular transducer 7, is arranged on the bottom of milling disk, can be synchronized with the movement with milling disk；It is used as a kind of typical tool of the invention
Body embodiment, angular transducer 7 is further connected by fixing device 14 with the bottom of milling disk 1, can be together with milling disk 1 in Z-direction
It is synchronized with the movement with Y-direction；
Lateral register sensor 5, is connected by fixing device 14 with milling disk 1, for realizing that lateral (Y-direction) of milling disk 1 is fixed
Position.
As shown in Figure 3, as a kind of preferably specific embodiment of the invention, control system is still further comprised for surveying
Wide and gauge the laser beam detecting sensor 3 of the rail of dimension rail 13, laser beam detecting sensor 3 is arranged in fixing device 14.
As shown in Figure 3, as a kind of preferably specific embodiment of the invention, control system is still further comprised for examining
The preceding altitude location sensor 4 and rear altitude location sensor 2 of the difference in height of rail 13 before and after survey milling operation.Preceding altitude location is passed
Sensor 4 and rear altitude location sensor 2 are connected by fixing device 14 with the bottom of milling disk 1, and are located at milling disk 1 along the water of rail 13
Square to both sides.
As shown in Figure 3, as a kind of preferably specific embodiment of the invention, before being further provided with positioning boots 8
Boots pressure sensor 10 and rear positioning boots pressure sensor 9 are positioned, prelocalization boots pressure sensor 10 and rear positioning boots pressure are passed
Sensor 9 is used to detect that milling disk 1 is pressed in the pressure on the surface of rail 13.
After the Z-direction locking device unblock of milling disk framework 6, angular transducer 7 is first switched on and performed downwards and once puts
Action, while the driving Z-direction of servo control mechanism 1 hoist cylinder 12 is vertically moved, the measurement Z-direction lifting oil of string of a musical instrument sensor 11
The elongation displacement of cylinder 12, determines the dropping distance of milling disk 1, and by measurement feedback to milling operation master controller, then by milling
Operation main controller controls electrohydraulic servo valve is cut, the catenary motion of milling disk 1 is realized.When milling disk 1 drops to above the rail level of rail 13
When 130mm highly locates, under the drive of servo control mechanism 2 22 (Y-direction servo control mechanism), the control of rail milling operation control system swashs
Light detecting sensors 3 is scanned to the left rail of rail 13, is exported when laser beam detecting sensor 3 detects the inner side of rail 13
One switching signal is gathered by Profibus DP buses, and one is exported when laser beam detecting sensor 3 detects the outside of rail 13
Individual switching signal is gathered by Profibus DP buses, and rail can be determined by carrying out coding by the motion to servo control mechanism 2 22
13 rail is wide.Then the right rail scanning of rail 13 is carried out in the same manner, determines the rail exterior feature and gauge of rail 13.By to rail
13 rail is wide and gauge is detected, it may be determined that whether rail 13 meets the requirement of milling operation.If the rail of rail 13 is wide
Undesirable with gauge, rail milling operation device then stops declining.
After the rail that rail milling operation control system the completes rail 13 wide measurement with gauge, milling disk 1 and Z-direction hoist cylinder
12 synchronous declines, second of opening of angular transducer 7 is simultaneously pressed on rail 13, and angular transducer 7 is synchronous under the drive of milling disk 1
Decline.When string of a musical instrument sensor 11 detects positioning boots (profiling boots) 8 apart from rail level 5mm of rail 13 or so, Z-direction hoist cylinder
12 stop declining.The driving of servo control mechanism 2 22 milling disk 1 is in Y-direction to the medial movement of rail 13, in the process angular transducer 7
The whole R shaped steel track surface of rail 13 is pressed on the rail level of rail 13 and slipped over always.When angular transducer 7 slides to rail 13
When inner side just produces mutation, milling disk 1 then stops Y-direction movement, and angular transducer 7 is withdrawn.Rail milling operation control system is led to
Cross the final positioning that preceding altitude location sensor 4, rear altitude location sensor 2 and lateral register sensor 5 carry out Y-direction and Z-direction.
Milling disk 1 the drive lower edge of servo control mechanism 2 22 hang down (Z) be 4mm or so to the distance of the lower edge of milling disk 1 to rail level is dropped to
When, milling disk 1 realizes that Z-direction is positioned in Z-direction stop motion.After the completion of Z-direction positioning, milling disk 1 is displaced outwardly along Y-direction, is determined to lateral
The middle position of level sensor 5, then Y-direction positioning is completed, and completes the final positioning to milling disk 1.
As shown in Figure 4, control system still further comprises oil cylinder control module 16 and servo control mechanism 1, by oil cylinder control
The control driving Z-direction of servo control mechanism 1 of molding block 16 hoist cylinder 12 exports constant pressure, prelocalization boots pressure sensor 10
The vertical deviation for positioning boots 8 is converted into pressure with rear positioning boots pressure sensor 9.It is raised or sunken to milling in order to reduce circuit
Cutting the quality of operation influences, and the pressure that boots 8 are held in position in operation process is constant, and then ensures that Z-direction displacement is constant.Oil cylinder control
The pressure value that molding block 16 is exported according to Z-direction hoist cylinder 12 during the pressure value and milling operation of setting carries out PID regulations.
When there are raised or sunken on rail 13, the vertical deviation change of Z-direction hoist cylinder 12 causes prelocalization boots pressure sensing
The change in displacement of device 10 and rear positioning boots pressure sensor 9, prelocalization boots pressure sensor 10 and rear positioning boots pressure sensor 9
The change of pressure value is detected, and by the output of the regulation servo control mechanism 1 of oil cylinder control module 16, and then make Z-direction hoist cylinder
The constant pressure of 12 outputs.The constant purpose of pressure is mainly the positioning for realizing milling Z-direction starting point, is referred to as Z-direction milling
Zero point.It is 400mm or so to position the length of boots 8, and the short wavelength that such wavelength is less than 400mm will be eliminated, and wavelength is more than
400mm ripple mill can not be then eliminated, so as to ensure that the ride comfort of rail and reach that will endanger larger shortwave long wave mill disappears
The effect removed.
As shown in Figure 5, control system still further comprises motion-control module 18, single motor drive module 19 and main shaft
Motor 20, controls single drive shaft motor 20 of motor drive module 19 to maintain constant rotating speed, main shaft by motion-control module 18
Motor 20 drives milling disk 1 to carry out milling operation to rail 13.Tachometer value of the motion-control module 18 according to setting, feed speed value
And the tachometer value that spindle motor 20 feeds back during milling operation carries out PID regulations, the operation of the constant linear velocity of spindle motor 20.When
When the tachometer value of setting, amount of feeding increase, the power output of spindle motor 20 declines, and the rotating speed of spindle motor 20 rises.When setting
When fixed tachometer value, the amount of feeding reduce, the power output of spindle motor 20 rises, and the rotating speed of spindle motor 20 declines.
The constant linear velocity of spindle motor 20 is run, when the amount of feeding and operating speed increase, in order to ensure constant linear velocity, main shaft
The power of motor 20 will increase.In order to ensure operation quality, total work can be realized by adjusting the amount of feeding and operating speed
Rate is stable below 60% so that power output matches with speed, the amount of feeding.Otherwise, long-time power is excessive, it will cause
Turn blue in the milling face of rail 13.Milling operation control mainly controls the cutting point linear velocity of milling cutter, it is ensured that the milling of rail 13
It is bright and clean and continuous.The rotation of spindle motor 20 drives milling disk 1 to rotate, and milling cutter is fixed on milling disk 1, under very high linear velocity, energy
Enough corresponding sites to rail 13 carry out milling.The control by permanent velocity of milling is mainly the rotating speed of control spindle motor 20,
In the case of invariablenes turning speed, the change that the abrasion of milling cutter are brought can be ignored.As a kind of preferably specific embodiment of the invention,
Spindle motor 20 uses the control mode of constant linear velocity, as operation traveling speed >=1.0km/h of rail milling operation car, main
The linear velocity of spindle motor 20 is 260m/min.As the operation traveling speed ＜ 1.0km/h of rail milling operation car, spindle motor
20 linear velocity is 180m/min, and linear velocity can be manually set, and each knots modification is 5m/min.Constant linear velocity control is main
By drive control device S120 realizes come drive shaft motor 20.As shown in Figure 1, drive control device S120 is by line rectification
Module and motor drive module composition.Drive control device S120 is a kind of with vector controlled and the transmission of servo-controlled modularization
Control module, while the spinning transmission with motion control can be realized, and the rotating speed control of all power transmission shafts and moment of torsion control.
As shown in Figure 6, control system still further comprises Dual-motors Driving module 21 and servo control mechanism 2 22, by moving
The control Dual-motors Driving of control module 18 module 21 drives servo control mechanism 2 22 to maintain constant milling amount.Oil cylinder control module 16
PID regulations are carried out according to the milling amount value of feedback of the uneven compliance of the amount of feeding of setting, rail 13, and servo control mechanism 2 22.
Dual-motors Driving module 21 controls Z axis motor and y-axis motor respectively by servo control mechanism 2 22.What servo control mechanism 2 22 was exported hangs down
Fed back to milling amount by preceding altitude location sensor 4 and rear altitude location sensor 2, the side that servo control mechanism 2 22 is exported
Fed back to milling amount by lateral register sensor 5.
In operation process, milling operation point be after the amount of feeding set on the basis of operation zero point according to operator really
Position of the knife point on rail 13 under fixed milling operation, is the superposition of the amount of feeding and dead-center position.During operation, by
Fluctuations in the surface of rail 13, dead-center position should also change at any time, to ensure the consistent of cutting feed amount, follow rail
The control that the fluctuations on 13 surfaces are changed referred to as servo antrol.Job Operations personnel can manually set milling before operation
The amount of feeding of operation is cut, the amount of feeding can also be manually adjusted according to actual conditions during traveling, the amount of feeding is fed including Z-direction
Amount and Y-direction offset, wherein the Z-direction amount of feeding are adjusted in units of 0.1mm, and Y-direction offset is set in units of 1mm
Put.Rail 13 is determined by prelocalization boots pressure sensor 10, rear positioning boots pressure sensor 9 and lateral register sensor 5
Fluctuations, determine operation zero point, driving Y-direction, the action of Z-direction servomotor adjust the relative position of setting by processing.Its
In, Y-direction follows zero point to be measured by lateral register sensor 5, and implements with 0.1mm precision to adjust Y-direction milling amount
Follow adjustment, Z-direction follows zero point to be detected by preceding altitude location sensor 4 and rear altitude location sensor 2.
As shown in Figure 7, a kind of specific embodiment of rail milling operation control method, rail milling operation control system
Including milling disk 1, lateral register sensor 5, milling disk framework 6, positioning boots 8, Z-direction hoist cylinder 12 and spindle motor 20.Main shaft electricity
Machine 20 drives milling disk 1 to carry out milling operation, and milling disk 1 is arranged on the middle and lower part of rail milling operation car by milling disk framework 6.Z-direction
The fixing end of hoist cylinder 12 is arranged on the bottom of Y-direction guide rail 15 below rail milling operation car, the activity of Z-direction hoist cylinder 12
End is connected with milling disk framework 6, and Z-direction hoist cylinder 12 can vertically move up and down with milling disk 1.Positioning boots 8 are arranged on Z-direction lifting oil
The back lower place of the fixing end of cylinder 12, lateral register sensor 5 is connected by fixing device 14 with milling disk 1.
Rail milling operation control method further comprises the steps：
S101：Vertical and lateral register is carried out to milling disk 1, milling disk 1 carries out milling operation to rail 13；
S102：The pressure value of positioning boots 8 is detected and adjusted, realizes that the pressure of positioning boots 8 is constant；
S103：Control the rotation speed constant of spindle motor 20；
S104：The operation zero point of milling disk 1 is adjusted by positioning the pressure value of boots 8 and the detected value of lateral register sensor 5,
Realize the vertical and lateral model- following control of milling disk 1.
Rail milling operation control system also includes string of a musical instrument sensor 11, and one end of string of a musical instrument sensor 11 is arranged on milling disk frame
The top of frame 6, the other end is connected with the fixing end of Z-direction hoist cylinder 12.
Step S101 further comprises the coarse positioning process of milling disk 1, and the process comprises the following steps：
The elongation displacement of the measurement Z-direction of string of a musical instrument sensor 11 hoist cylinder 12, determines the dropping distance of milling disk 1, and will measurement
As a result milling operation master controller is fed back to, then by milling operation main controller controls electrohydraulic servo valve, realizes the vertical of milling disk 1
Motion.When milling disk 1 drops to the height of the rail level of rail 13 top setting, the rail exterior feature and gauge of rail 13 are determined, is completed to milling
The coarse positioning of disk 1.
Rail milling operation control system also includes angular transducer 7 and servo control mechanism 2 22, and angular transducer 7 passes through solid
Determine the bottom that device 14 is arranged on milling disk 1, can be synchronized with the movement with milling disk 1.Servo control mechanism 2 22 drives Z axis motor and Y-axis respectively
Motor.
Step S101 further comprises the fine positioning process of milling disk 1, and the process comprises the following steps：
After the rail that rail milling operation control system the completes rail 13 wide measurement with gauge, milling disk 1 and Z-direction hoist cylinder
12 synchronous declines, angular transducer 7 is opened and is pressed on rail 13, and angular transducer 7 synchronously declines under the drive of milling disk 1.
When string of a musical instrument sensor 11, which detects positioning boots 8, reaches setpoint distance from the rail level of rail 13, under Z-direction hoist cylinder 12 stops
Drop, the vertical positioning of milling disk 1 success.The driving milling of servo control mechanism 2 22 disk 1, to the medial movement of rail 13, is completed to milling disk 1 in Y-direction
Fine positioning.
Rail milling operation control system also includes preceding altitude location sensor 4 and rear altitude location sensor 2, preceding height
Alignment sensor 4 and rear altitude location sensor 2 are connected by fixing device 14 with the bottom of milling disk 1, and are located at milling disk 1 along steel
The both sides of the horizontal direction of rail 13.
Step S101 further comprises the completion position fixing process of milling disk 1, and the process comprises the following steps：
The height that milling disk 1 vertically drops to lower edge to the rail level of milling disk 1 under the drive of servo control mechanism 2 22 reaches
During setpoint distance, milling disk 1 realizes vertical positioning in vertical stop motion.After the completion of vertical positioning, milling disk 1 is moved out along Y-direction
Dynamic, to the middle position of lateral register sensor 5, then Y-direction positioning is completed, and completes the final positioning to milling disk 1.
Positioning boots 8 includes prelocalization boots pressure sensor 10 and rear positioning boots pressure sensor 9, the control of rail milling operation
System also includes oil cylinder control module 16 and servo control mechanism 1.
Step S102 further comprises rail milling operation constant pressure control process, and the process comprises the following steps：
The control driving Z-direction of servo control mechanism 1 of oil cylinder control module 16 hoist cylinder 12 exports constant pressure, prelocalization
The vertical deviation for positioning boots 8 is converted to pressure by boots pressure sensor 10 and rear positioning boots pressure sensor 9.Oil cylinder control module
16 pressure values exported according to Z-direction hoist cylinder 12 during the pressure value and milling operation of setting carry out PID regulations.Work as rail
When there are raised or sunken on 13, the vertical deviation change of Z-direction hoist cylinder 12 causes the He of prelocalization boots pressure sensor 10
The change in displacement of boots pressure sensor 9 is positioned afterwards, and prelocalization boots pressure sensor 10 and rear positioning boots pressure sensor 9 are detected and pressed
The change of force value, and by the output of the regulation servo control mechanism 1 of oil cylinder control module 16, and then export Z-direction hoist cylinder 12
Constant pressure.
Rail milling operation control system also includes motion-control module 18 and single motor drive module 19, and step S103 enters
One step includes the constant speed control process of spindle motor 20, and the process comprises the following steps：
Motion-control module 18 controls single drive shaft motor 20 of motor drive module 19 to maintain constant rotating speed, main shaft electricity
Machine 20 drives milling disk 1 to carry out milling operation to rail 13.Motion-control module 18 according to the tachometer value of setting, feed speed value with
And the tachometer value that spindle motor 20 feeds back during milling operation carries out PID regulations, the operation of the constant linear velocity of spindle motor 20.When setting
When fixed tachometer value, amount of feeding increase, the power output of spindle motor 20 declines, and the rotating speed of spindle motor 20 rises.Work as setting
Tachometer value, the amount of feeding is when reducing, the power output of spindle motor 20 rises, and the rotating speed of spindle motor 20 declines.
Rail milling operation control system also includes Dual-motors Driving module 21, and step S104 further comprises milling disk 1
Z/Y comprises the following steps to model- following control control process, the process：
The control Dual-motors Driving of motion-control module 18 module 21 drives servo control mechanism 2 22 to maintain constant milling amount.Oil
Cylinder control module 16 is according to the milling amount value of feedback of the amount of feeding of setting, the uneven compliance of rail 13, and servo control mechanism 2 22
Carry out PID regulations.Dual-motors Driving module 21 controls Z axis motor and y-axis motor respectively by servo control mechanism 2 22.Servo control mechanism
The vertical milling amount of 2 22 outputs is fed back by preceding altitude location sensor 4 and rear altitude location sensor 2, servo control mechanism
The lateral milling amount of 2 22 outputs is fed back by lateral register sensor 5.
Rail milling operation control system also includes laser beam detecting sensor 3, and laser beam detecting sensor 3 is arranged on fixed dress
Put on 14.
Determine that wide and gauge the process of rail of rail 13 further comprises the steps：
When milling disk 1 drops to the height of the rail level of rail 13 top setting, under the drive of servo control mechanism 2 22, rail milling
Operation-control system control laser beam detecting sensor 3 is cut to be scanned rail 13.When laser beam detecting sensor 3 detects rail
A switching signal is exported during 13 inner side, one switch of output when laser beam detecting sensor 3 detects the outside of rail 13
Signal, rail exterior feature and gauge that coding determines rail 13 are carried out by the motion to servo control mechanism 2 22.
The fine positioning process of milling disk 1 further comprises the steps：
When servo control mechanism 2 22 drives milling disk 1 in Y-direction to the medial movement of rail 13, in the process angular transducer 7
The whole R shaped steel track surface of rail 13 is pressed on the rail level of rail 13 and slipped over always.When angular transducer 7 slides to rail 13
When inner side just produces mutation, milling disk 1 then stops Y-direction movement, and angular transducer 7 is withdrawn, and completes the fine positioning to milling disk 1.
As traveling speed >=1.0km/h of rail milling operation car, the linear velocity of spindle motor 20 is 260m/min.When
During the traveling speed ＜ 1.0km/h of rail milling operation car, the linear velocity of spindle motor 20 is 180m/min.
The design procedure of rail milling operation control system of foregoing invention specific embodiment description is：
A：Required according to milling operation, use output signal for 0~20mA electric currents, precision 1mA electrohydraulic servo valve is carried out
Design, realizes that milling disk 1 can move in Z-direction, and the output valve of the string of a musical instrument sensor 11 of detection Z-direction is to determine vertical actual bit
Move；And design laser beam detecting sensor 3 positioning is scanned to the Y-direction rail exterior feature of rail 13；
B：The pressure that positioning boots 8 are subject to is detected by prelocalization boots pressure sensor 10, rear positioning boots pressure sensor 9,
The pressure for positioning boots 8 is adjusted closed-loop control system of the design based on pid control algorithm, realizes that the pressure of positioning boots 8 is permanent
It is fixed；
C：The servo drive control system based on S120 servo-drivers of design, writes S7 317 and SIMOTION D
435-2 control programs realize that the rotation to Z-direction, Y-direction servo drive control and spindle motor 20 is controlled；
D：According to preceding altitude location sensor 4 and rear altitude location sensor 2, and lateral register sensor 5 is detected
Instantaneous value adjusts Z-direction servo drive system, and regulation Z-direction and Y-direction servo-actuating device realize the Z/Y of imitative type milling disk 1 to following control
System.
Rail milling operation control method of the present invention is applicable not only to the control of track profile milling, while imitative suitable for track
Shape grinding control.
By implementing the rail milling operation control method that the specific embodiment of the invention is described, following technology effect can be reached
Really：
(1) the rail milling operation control method of specific embodiment of the invention description can solve the problem that existing invariable power milling is made
Industry control mode is difficult to detect that corresponding exact power is difficult to determine under actual cut amount, theory of correspondences cutting output, grinding power
Precision is low, error is big, it is impossible to meet the technical problem of Track regularity requirement after operation；
(2) the rail milling operation control method of specific embodiment of the invention description is solved effectively eliminates after milling operation
The technical problem of circuit shortwave error, and original circuit long wave rail profile shape is kept, serve the requirement that rail defense is safeguarded；
(3) the milling control in the rail milling operation control method of specific embodiment of the invention description uses Siemens
SIMOTION+S120 kinetic control system scheme, by the way that logic control, drive control control are combined together, using same
The same software of platform so that each several part mutually can be accessed directly without transfer or parsing, and the efficiency and stability of system are obtained
It is further to improve；
(4) the rail milling operation control method of specific embodiment of the invention description uses failure to safety PLC and failure
Safety-type distributed I/O, ensures that personnel are with setting in milling operation journey to greatest extent by hardware redundancy and software redundancy mechanism
Standby safety and the operation of stability and high efficiency；
(5) PROFINET nets are used between the rail milling operation control method controller of specific embodiment of the invention description
Network communication protocol, the agreement is being more suitable for larger data transfers, convenient to carry out data friendship in main controller and milling, grinding system
Change, also will not therefore influence power key-course equipment operation；Pass through PROFIBUS-DP between left and right milling controller and its substation
Industrial field bus carries out network service, it is ensured that the real-time and security of data, more effectively ensure that the steady of whole system
Qualitative and reliability.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
The above described is only a preferred embodiment of the present invention, not making any formal limitation to the present invention.Though
So the present invention is disclosed as above with preferred embodiment, but is not limited to the present invention.It is any to be familiar with those skilled in the art
Member, in the case where not departing from the Spirit Essence and technical scheme of the present invention, all using in the methods and techniques of the disclosure above
Appearance makes many possible variations and modification to technical solution of the present invention, or is revised as the equivalent embodiment of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit according to the present invention is to made for any of the above embodiments any simple
Modification, equivalent substitution, equivalence changes and modification, still fall within technical solution of the present invention protection in the range of.
Claims (9)
1. a kind of rail milling operation control method, it is characterised in that rail milling operation control system includes milling disk (1), side
To alignment sensor (5), milling disk framework (6), positioning boots (8), Z-direction hoist cylinder (12) and spindle motor (20)；The main shaft
Motor (20) drives the milling disk (1) to carry out milling operation, and the milling disk (1) is arranged on rail milling by milling disk framework (6)
The middle and lower part of Operation Van；The Y-direction that the fixing end of the Z-direction hoist cylinder (12) is arranged on below the rail milling operation car is led
Rail (15) bottom, the movable end of the Z-direction hoist cylinder (12) is connected with the milling disk framework (6), the Z-direction hoist cylinder
(12) can vertically it be moved up and down with the milling disk (1)；The positioning boots (8) are arranged on consolidating for Z-direction hoist cylinder (12)
The back lower place of fixed end, the lateral register sensor (5) is connected by fixing device (14) with the milling disk (1)；
The control method comprises the following steps：
S101：Vertical and lateral register is carried out to the milling disk (1), the milling disk (1) carries out milling operation to rail (13)；
S102：The pressure value of the positioning boots (8) is detected and adjusted, realizes that the pressure of the positioning boots (8) is constant；
S103：Control the rotation speed constant of the spindle motor (20)；
S104：The milling disk is adjusted by the pressure value of the positioning boots (8) and the detected value of the lateral register sensor (5)
(1) operation zero point, realizes the vertical and lateral model- following control of the milling disk (1)；
The rail milling operation control system also includes servo control mechanism two (22), preceding altitude location sensor (4) and rear height
Alignment sensor (2), the servo control mechanism two (22) drives Z axis motor and y-axis motor respectively；The preceding altitude location sensor
(4) it is connected with rear altitude location sensor (2) by the fixing device (14) with the bottom of the milling disk (1), and positioned at institute
State both sides of the milling disk (1) along the rail (13) horizontal direction；
The step S101 further comprises the completion position fixing process of the milling disk (1), and the process comprises the following steps：
The lower edge that the milling disk (1) vertically drops to the milling disk (1) under the drive of the servo control mechanism two (22) is arrived
When the height of rail level reaches setpoint distance, the milling disk (1) realizes vertical positioning in vertical stop motion；It is complete in vertical positioning
Cheng Hou, the milling disk (1) is displaced outwardly along Y-direction, to the middle position of the lateral register sensor (5), then Y-direction positioning is completed, and
Complete the final positioning to the milling disk (1).
2. rail milling operation control method according to claim 1, it is characterised in that the rail milling operation control
System also includes string of a musical instrument sensor (11), and one end of the string of a musical instrument sensor (11) is arranged on the top of the milling disk framework (6),
The other end is connected with the fixing end of the Z-direction hoist cylinder (12)；
The step S101 further comprises the coarse positioning process of the milling disk (1), and the process comprises the following steps：
The string of a musical instrument sensor (11) measures the elongation displacement of the Z-direction hoist cylinder (12), determines the decline of the milling disk (1)
Distance, and by measurement feedback to milling operation master controller, then by the milling operation main controller controls electro-hydraulic servo
Valve, realizes the catenary motion of the milling disk (1)；When the milling disk (1) drops to the height of setting above the rail (13) rail level
When spending, the rail exterior feature and gauge of the rail (13) are determined, the coarse positioning to the milling disk (1) is completed.
3. rail milling operation control method according to claim 2, it is characterised in that the rail milling operation control
System also includes angular transducer (7), and the angular transducer (7) is arranged on the bottom of the milling disk (1), can be with the milling disk
(1) it is synchronized with the movement；
The step S101 further comprises the fine positioning process of the milling disk (1), and the process comprises the following steps：
After the rail milling operation control system completes wide rail (13) rail and gauge measurement, the milling disk (1)
Synchronous with the Z-direction hoist cylinder (12) to decline, the angular transducer (7) is opened and is pressed on the rail (13), described
Angular transducer (7) synchronously declines under the drive of the milling disk (1)；When the string of a musical instrument sensor (11) detects positioning boots
(8) when the rail level from the rail (13) reaches setpoint distance, the Z-direction hoist cylinder (12) stops declining, the milling disk (1)
Vertical positioning success；The servo control mechanism two (22) drive the milling disk (1) medial movement from Y-direction to the rail (13),
Complete the fine positioning to the milling disk (1).
4. rail milling operation control method according to claim 3, it is characterised in that before the positioning boots (8) include
Boots pressure sensor (10) and rear positioning boots pressure sensor (9) are positioned, the rail milling operation control system also includes oil
Cylinder control module (16) and servo control mechanism one (17)；
The step S102 further comprises rail milling operation constant pressure control process, and the process comprises the following steps：
The oil cylinder control module (16) controls the servo control mechanism one (17) to drive Z-direction hoist cylinder (12) output constant
Pressure, the prelocalization boots pressure sensor (10) and rear positioning boots pressure sensor (9) are by the vertical of the positioning boots (8)
Displacement is converted to pressure；The Z-direction liter during pressure value and milling operation of the oil cylinder control module (16) according to setting
The pressure value for dropping oil cylinder (12) output carries out PID regulations, when there are raised or sunken on the rail (13), the Z-direction
The vertical deviation change of hoist cylinder (12) causes the prelocalization boots pressure sensor (10) and rear positioning boots pressure sensor
(9) change in displacement；The prelocalization boots pressure sensor (10) and rear positioning boots pressure sensor (9) detect the change of pressure value
Change, and by the output of the oil cylinder control module (16) the regulation servo control mechanism one (17), and then make the Z-direction lifting oil
Cylinder (12) exports constant pressure.
5. rail milling operation control method according to claim 4, it is characterised in that the rail milling operation control
System also includes motion-control module (18) and single motor drive module (19), and the step S103 further comprises the main shaft
Motor (20) constant speed control process, the process comprises the following steps：
Motion-control module (18) control single motor drive module (19) drives the spindle motor (20) to remain permanent
Fixed rotating speed, the spindle motor (20) drives the milling disk (1) to carry out milling operation to the rail (13)；The motion control
Molding block (18) feeds back according to the spindle motor (20) during the tachometer value of setting, feed speed value and milling operation
Tachometer value carries out PID regulations, spindle motor (20) the constant linear velocity operation；When tachometer value when setting, amount of feeding increase, institute
The power output for stating spindle motor (20) declines, and the rotating speed of the spindle motor (20) rises；Tachometer value, the amount of feeding when setting
During reduction, the power output of the spindle motor (20) rises, and the rotating speed of the spindle motor (20) declines.
6. rail milling operation control method according to claim 5, it is characterised in that the rail milling operation control
System also includes Dual-motors Driving module (21), and the step S104 further comprises the Z/Y of the milling disk (1) to model- following control
Control process, the process comprises the following steps：
The motion-control module (18) controls the Dual-motors Driving module (21) to drive the servo control mechanism two (22) to maintain
Constant milling amount；The oil cylinder control module (16) is according to the amount of feeding of setting, the uneven compliance of rail (13), and servo
The milling amount value of feedback of mechanism two (22) carries out PID regulations；The Dual-motors Driving module (21) passes through the servo control mechanism two
(22) Z axis motor and y-axis motor are controlled respectively；The vertical milling amount of servo control mechanism two (22) output passes through the preceding height
Alignment sensor (4) and rear altitude location sensor (2) are fed back, the lateral milling amount of servo control mechanism two (22) output
Fed back by the lateral register sensor (5).
7. the rail milling operation control method according to claim 3,4 or 6 any one, it is characterised in that the rail
Milling operation control system also includes laser beam detecting sensor (3), and the laser beam detecting sensor (3) is arranged on the fixed dress
Put on (14)；
Determine that wide and gauge the process of rail of the rail (13) further comprises the steps：
When the milling disk (1) drops to the height of the rail (13) rail level top setting, in the servo control mechanism two (22)
Drive under, rail milling operation control system controls the laser beam detecting sensor (3) to be scanned the rail (13)；
A switching signal is exported when the laser beam detecting sensor (3) detects the inner side of the rail (13), when the laser
Detection sensor (3) exports a switching signal when detecting the outside of the rail (13), by the servo control mechanism two
(22) motion carries out the rail exterior feature and gauge that coding determines the rail (13).
8. rail milling operation control method according to claim 7, it is characterised in that the fine positioning of the milling disk (1)
Process further comprises the steps：
When the servo control mechanism two (22) drive the milling disk (1) medial movement from Y-direction to the rail (13), in this process
Described in angular transducer (7) be pressed in always on the rail level of the rail (13) and slip over the whole R shaped steel of the rail (13)
Track surface；When the inner side that the angular transducer (7) slides to the rail (13) just produces mutation, the milling disk (1) is then
Stop Y-direction movement, the angular transducer (7) is withdrawn, and completes the fine positioning to the milling disk (1).
9. the rail milling operation control method according to claim 1,2,3,4,6 or 8 any one, it is characterised in that：When
During traveling speed >=1.0km/h of rail milling operation car, the linear velocity of the spindle motor (20) is 260m/min；Work as rail
During the traveling speed ＜ 1.0km/h of milling operation car, the linear velocity of the spindle motor (20) is 180m/min.
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| RU2802920C1 (en) * | 2020-07-24 | 2023-09-05 | Кркк Хай-Тек Эквипмент Корпорейшн Лимитед | Rail milling machine and its control system for fine milling of rails |
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| CN105598513B (en) * | 2016-03-28 | 2018-06-22 | 北京拓博尔轨道维护技术有限公司 | The control method of rail milling operation |
| CN106141765A (en) * | 2016-08-26 | 2016-11-23 | 湖南大学 | A kind of milling attachment for rail trimming |
| CN106483926B (en) * | 2016-09-30 | 2023-07-21 | 湖南大学 | Self-adaptive following device for lateral positioning of steel rail milling and grinding device |
| CN111531211B (en) * | 2020-04-02 | 2021-05-28 | 洛阳拓博尔铁路设备有限公司 | Real-time control method for steel rail milling operation |
| CN111774625A (en) * | 2020-07-24 | 2020-10-16 | 中国铁建高新装备股份有限公司 | Steel rail milling vehicle and steel rail finish milling operation control system thereof |
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