CN108629065A - A kind of small angle tower pantograph collector head design method - Google Patents
A kind of small angle tower pantograph collector head design method Download PDFInfo
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- CN108629065A CN108629065A CN201711097008.4A CN201711097008A CN108629065A CN 108629065 A CN108629065 A CN 108629065A CN 201711097008 A CN201711097008 A CN 201711097008A CN 108629065 A CN108629065 A CN 108629065A
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- pantograph
- optimization
- hinge
- bow
- head corner
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
Abstract
The invention discloses a kind of small angle tower pantograph collector head design methods, calibration method is sat using the relative position parameter of pantograph hinge joint, utilize ripe dynamics software and integrated common optimization algorithm library, optimize the corner of bow head, so that the deflection angle of pantograph collector head is substantially reduced, bow head is made to reach the state being almost translatable in the working range of lifting bow, pantograph and the contact area of contact net is made to increase, the current carrying quality for effectively improving pantograph reduces bow net damage.
Description
Technical field
The present invention relates to rail vehicle pantograph technical field, especially a kind of small angle tower pantograph collector head design method.
Background technology
Single carbon slide plate pantograph contacted with contact net flowed when, contact area be easy by pantograph collector head carbon slipper with connect
The influence of net-fault contact line relative angle.Since contact net is static equipment, vehicle is mobile device, in the moving process of vehicle
Middle contact net contact line changes relative to the vertical height of vehicle, thus the working depth of pantograph is caused to change,
So as to cause changing for carbon slipper and contact line relative angle.When bow head carbon slipper deflection angle is larger, single carbon slide plate with
The contact of contact net becomes point contact from line contact, and contact stress sharply increases at contact point, it is easy to and cause contact line to be bent,
Greatly increase mechanical friction and increase contact resistance, is drastically increased so as to cause temperature at contact point, make pantograph-catenary current collection quality
Drastically decline, is easy scaling loss carbon slipper and contact net.
Requirement according to domestic and international high-speed railway to high speed pantograph, bow head balance mechanism are high in the minimum of pantograph pan
It spends within the scope of 300mm to maximum height 2400mm, the rotational angle of pantograph pan must be less than ± 2 °.Therefore, modern pantograph
Bow head balance mechanism is had, bow head carbon slipper is made to keep small angle deflection in working height range.The bow head of pantograph at present
The agent structure (component 1-5 and hinge J1-J5 in figure) of pantograph can be included by balance mechanism, and there are one most
Balancing pole.On the one hand it is difficult to find preferable Optimal Parameters bow head is made to keep small angle deflection, on the other hand limits pantograph
Agent structure makes its working range, bow net contact power, driving parameter etc. by more limitation so that pantograph performance by
Larger reduction.Even across the pantograph of the simple optimizations such as CAD analysis design, bow head deflection angle still may be larger, and maximum can
It can exceed that 10 degree, be much larger than normal value, deflection angular curve will be as shown in Fig. 2, this will seriously affect pantograph current carrying quality.
In the actual design and optimization process of pantograph, the initial side of pantograph is usually made in D CAD software
Case figure to parametrizations such as size, the angles of the main motion mechanism of pantograph, and lists the geometry and kinematics of each parametric relationship
Equation group, such as Fig. 3.It is programmed solution equation group with language tools such as FORTRAN, C again, then works out optimization algorithm to bow head
Angle optimizes calculating.
As seen from Figure 3, parameter is more, it is necessary to include the parameter of agent structure, equation column includes containing sinusoidal, remaining
The nonlinear functions such as string, tangent, solving equations algorithm and programming are complicated, when especially increasing a rod piece, the topology of program
Structure changes completely.The entire process of calculation analysis period is long, and solving equations algorithm and optimization algorithm efficiency are low, and algorithm is unstable
It is fixed, when the primary condition Distance l imit of pantograph is larger, it is difficult to structure optimization solution is fast and efficiently obtained, it is especially more
Design variable or for the related constraints such as agent structure size require it is stringenter when, be less likely to obtain the optimization solution of structure.
In this way, more balancing poles must be increased, with the bow head rotational angle requirement that must satisfy and reduce to pantograph
The limitation of agent structure, thus the topological structure of degree and derivation algorithm change completely, program and greatly increase with the difficulty of debugging
Add, the design cycle is long, the most of the time spend in program on algorithm, it is few to the performance evaluation of pantograph itself.In addition,
Optimization algorithm is to be optimized under given primary condition, under normal circumstances the only local optimum solution of structure, Er Feiquan
Office's optimization solution.
The parameters such as size, angle to the main motion mechanism of pantograph optimize, actually each hinged with pantograph
The position of point optimizes processing, to meet the requirement of bow head corner.
Invention content
The technical problem to be solved by the present invention is in view of the shortcomings of the prior art, provide a kind of small angle tower pantograph collector head
Design method optimizes processing, to meet the requirement of bow head corner to the position of each hinge joint of pantograph.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of small angle tower pantograph collector head design
Method includes the following steps：
1) the pantograph kinetic model of imparametrization is established in dynamics software；
2) in the vertical movement plane of pantograph based on working depth position minimum by slide plate, pantograph is optimized and is cut with scissors
Position carries out parametrization expression：With the local coordinate system origin with reference to hinge for optimization hinge, indicate optimization hinge to ginseng with relative coordinate
The relative position for examining hinge, the parametrization for optimizing hinge position indicate；
3) optimization in the imparametrization pantograph kinetic model established to step 1) is cut with scissors, with optimization hinge position in step 2)
It is parameter to set to the relative coordinate with reference to hinge position, establishes the pantograph parameters kinetic model of optimization hinge；
4) the relative coordinate parameter that above-mentioned optimization is cut with scissors is set as to the design variable of bow head corner optimization；
5) rising bow process bow head of the pantograph mechanism rising bow to slide plate critical altitude when is obtained in dynamics software
Rotational response curve, and obtain the maximum value of bow head rotational response curveWith minimum valueDefine the variation of bow head corner
Amplitude：Bow head corner variation amplitude is defined as the object function of bow head corner optimization, and is turned with bow head
The minimization of object function of angle and optimizingFor optimization aim；
6) object function that bow head corner in step 5) is optimizedIt optimizes calculating to solve, obtains multiple pantographs
The prioritization scheme of optimization hinge position, a prioritization scheme are the combination for the concrete numerical value for cutting with scissors position optimization design variable；
7) each component interference analysis of pantograph, critical altitude point are carried out using multiple prioritization schemes that step 6) obtains
Analysis verifies pantograph motion state collision problem, obtains pantograph collector head corner, component interference, motion range, and carry out quality
Comparative analysis, obtain pantograph collector head corner, component interference, motion range be satisfied by pantograph technology requirement scheme, and from
The middle scheme for choosing pantograph collector head corner minimum, as preferred plan；
If not meeting the scheme of pantograph technology requirement in said program, increase balance bar, connects to increase
Hinge is connect, increased connects hinge position, which is carried out the identical parametrization with step 2), to be indicated, repeats step 3)~step 7), directly
Meet technology requirement to pantograph collector head corner.
In step 5), function is handled by the maxima and minima of dynamics software and obtains bow head rotational response curve
Maximum valueWith minimum value
Compared with prior art, the advantageous effect of present invention is that：The present invention is for single carbon slide plate pantograph at present
Bow head deflection angle is big, and programming quantity is big, equation solution algorithm and optimization algorithm efficiency is low, slow, convergence difficulties of speed etc., easily cause by
Pantograph corner is larger, the real background that current carrying quality is remarkably decreased, it is proposed that a kind of optimization design of small angle tower pantograph collector head
Method optimizes processing, to meet the requirement of bow head corner to the position of each hinge joint of pantograph.The present invention uses pantograph
The relative position parameter of hinge joint sits calibration method, excellent using ripe dynamics software and integrated common optimization algorithm library
The corner for changing bow head, makes the deflection angle of pantograph collector head be substantially reduced, and bow head is made to reach almost in the working range of lifting bow
The state of translation makes pantograph and the contact area of contact net increase, effectively improves the current carrying quality of pantograph, reduce bow
Network loss is hindered.It has the characteristics that and advantage：
(1) parameter selection is directly carried out using the two-dimensional space relative coordinate parameter to pantograph each articulated position point, with
Optimization design variable is defined with reference to hinge and relative coordinate, the method for carrying out bow head corner optimization；
(2) do not have to work out pantograph geometric equation and the equation of motion again, not have to again to equation derivation algorithm and optimization algorithm
It is programmed and debugs, save a large amount of programming, debug time, modification or increase parameter are simpler efficiently；
(3) utilize the mature and reliable of dynamics software and optimization algorithm, the Optimization Solution of bow head balance mechanism quickly, have
Effect, the general 1-2 hours small angle tower bow head pantograph that can obtain optimization；
(4) in data integration a to model, pantograph parameters kinetic model can more comprehensively reflect driving, do
It relates to, the dynamic properties such as corner, construction geometry, dynamical state etc. are clear, visual, data rich, dry between direct verification component
It relates to, the core capabilities such as working range；
(5) engineering optimizing is carried out to multiple prioritization schemes of design variable parameter, optimizes pantograph performance to the greatest extent,
Local optimum is avoided as a result, the overall most optimal solution with engineering significance can be obtained.
(6) it is easier to extend and derive the pantograph of new construction, only increases one or several hinges on pantograph model
Chain position optimization point and relative coordinate parameter operate easily often simple, effective.
Description of the drawings
Fig. 1 is single carbon slide plate pantograph structural schematic diagram；
Fig. 2 is the pantograph collector head deflection angle of simple optimization analysis design；
Fig. 3 is pantograph principle model used at present and its Optimal Parameters and equation column；
Fig. 4 be single carbon slide plate pantograph collector head rotating hinge parameterize example (minimum working depth, dotted line rotating hinge be original
Position after the optimization of rotating hinge)；
Fig. 5 is optimization rear arc head rotation curve (example)；
Wherein：
1- chassis；2- underarms；3- upper arm；4- pull rods；5- bow heads；6- balancing poles 1；7- balancing poles 2；8- balancing poles 3；J1~
J10- rotating hinges.
Specific implementation mode
The specific Optimization Steps of the present invention are as follows：
(1) it is built in general dynamic software (such as SIMPACK, RECURDYN, ADAMS) according to pantograph design scheme
The pantograph kinetic model of vertical imparametrization.On the basis of existing Three-dimensional CAD Software (such as U G) initial graphics geometry,
By taking the pantograph scheme of diagram 1 as an example, illustrate the pantograph kinetic model process for establishing imparametrization.
The part and its geometry for establishing imparametrization pantograph kinetic model, sequentially input each portion in dynamics software
The three-dimensional geometry of part 1-8 merges the zero of this component if a component is made of several parts in dynamics software
Part forms the same Part (terms of software), and the material that software can be default to alternative pack is steel, and the material in software library may be selected
Material is directly assigned to Part weight, and software can be according to the weight, center of gravity and rotary inertia of the automatic calculating unit of component materials.
The movement hinge for establishing imparametrization pantograph kinetic model, successively according to each specific fortune in dynamics software
The type and the component of connection of dynamic hinge selection hinge and the position of hinge.The exemplary movement hinges of Fig. 1 are rotating hinge, and cutting with scissors J1 in Fig. 1 is
The component of connection is chassis 1 and underarm 2, and position is the center of rotation and its axis that chassis 1 or underarm 2 connect bearing, is cut with scissors in Fig. 1
J2 is that the part of connection is underarm 2 and upper arm 3, and position is the center of rotation and its axis that underarm 2 and upper arm 3 connect bearing,
It cuts with scissors J3-J10 and is established respectively in dynamics software all in accordance with respective connecting component and its center of rotation.
The uniform rotation for applying low speed at underarm and chassis the driving hinge of pantograph drives, about imitative of first tentative calculation one
It is true to calculate the time, it moves to critical altitude further according to pantograph and determines that final simulation calculation time, general dynamic are soft
Part can automatically generate the kinematical equation of pantograph and solution, avoid to equation group into determinant, programming and solution.Software can be certainly
It is dynamic to generate and the results such as each component locations of time correlation, rotational angle.One of core index of single carbon slide plate pantograph is bow
Head (5) is moved to the bow head angle of rotation of critical altitude in pantograph by minimum working height, can from tape function by software
The rotation curve for obtaining bow head (5), as shown in the curve of Fig. 2.
(2) parameterized treatment is carried out to pantograph rotating hinge position.In the plane of movement two-dimensional space plane of pantograph
Based on initial scheme position, rotating hinge position is parameterized with relative coordinate.
Parameterized treatment can be carried out to each rotating hinge position of pantograph, if you do not need to changing the main body of pantograph
Structure motion performance is then not required to join the rotating hinge position of agent structure such as pantograph critical altitude, rising bow torque
Numberization only parameterizes the rotating hinge position of balancing pole.Below with Fig. 1 examples, at the parametrization for illustrating rotating hinge position
Reason process, such as Fig. 4.This rotating hinge parametrization example is that (main body mechanism is component 1-5 and cuts with scissors J1-J5, component 6-8 and hinge in Fig. 1
J7-J10 be keep bow head corner particular balance mechanism) rotating hinge position parameterized treatment example, it is assumed that pantograph except bow
Other technologies outside head corner require to have met, because of the rotating hinge (J1-J5 in Fig. 1) without selecting agent structure.
The definition of each geometric dimension of 1 pantograph of table
In formula, xE、yEIt is design variable L1、L2、L3、L4、L5, a, b, γ function.
(2) the translational motion equation (angle of bow head swing rod and horizontal direction) of bow head
In formula, xF、yFFor the coordinate of F points, i.e. xF=L7cosλ-L2Cos (α-μ), yF=L7sinλ+L2sin(α-μ).P is to set
Count variables L1、L2、L3、L4、L5、L6、L7, a, b, γ function.
For the pantograph structure of exemplary plot 1, the rotating hinge (J8-J10 in Fig. 1) of balance mechanism is selected to be parameterized
Processing, the component being connected with rotating hinge J7 in Fig. 1 are upper arm (3) and balance of plant bar 2 (6), structure based on upper arm (3),
Do not change its size, thus cuts with scissors hinge J8 and J9 that J7 will not change with respect to the position of upper arm (3), and be connect with balancing pole 2 (6)-
It then needs to change its relative size, so as to the bow head corner requirement of satisfaction, therefore the position of J8 and J9 is using J7 as reference position.Portion
The initial scheme of part balancing pole 2 (6) is straight long component, and hinge J8, J9 are respectively positioned on component, therefore with the length side of balancing pole 2 (6)
To x to for longitudinal direction, vertical direction y to size be parameter definition J8, J9 position, the position to cutting with scissors J8, J9 parameterizes
Processing.
J8 (O) in Fig. 3 is to illustrate the position that J8 initial schemes are cut with scissors in 1, and J8 (N) is the new position cut with scissors after J8 change in location
It sets, J8 (N) and J7 is L1 at a distance from the directions x, and the distance in the directions y is H1.Equally, J9 (O) is that hinge J9 is initially square in diagram 1
The position of case, J9 (N) be cut with scissors J9 change in location after new position, J9 (N) and J7 at a distance from the directions x be L2, the directions y away from
From for H2.Similarly, J10 is reference with J3, and it is the location parameter L3, H3 referred to define J10 with J3.
(3) the imparametrization kinetic model established to the 1st step parameterizes, using parameter defined in the 2nd step and
The position accordingly cut with scissors is defined, and establishes the pantograph parameters kinetic model of optimization hinge.With the exemplary pantograph schemes of Fig. 1
And the parameter that Fig. 4 is defined, illustrate the process of parameterized.
6 parameters, L1, L2, L3, H1, H2, H3 are established in dynamics software, and initial value is arranged according to initial scheme.
1 identification point P7 (Marker) is defined with reference to hinge center in J7, identification point coordinate system is consistent with reference direction in Fig. 3, then
The center identification point P8 for defining J8 is parameter point, selects the reference point of P8 for P7, and P8 coordinate references direction is automatically consistent with P7,
Distances of the P8 on the directions P7 identification point x is L1, and the distance on the directions y is H1.Similarly, it is ginseng to establish J9 center identification points P9
The center identification point P10 of several points and J10 are parameter point, reference point and the coordinate reference direction that wherein P7 is P9, J3 center identifications
Reference point and the coordinate reference direction that point P3 is P10.P8, P9, P10 and verification Jing Guo change in location, i.e., by change L1,
The value of L2, L3, H1, H2, H3, observe the position P8, P9, P10 and its whether hinge J8, J9, J10 occur to change accordingly, complete ginseng
The pantograph kinetic model of the parametrization variation of number L1, L2, L3, H1, H2, H3 driving hinge position J8, J9, J10.
(4) the rotating hinge relative position parameter in the pantograph kinetic model of the 3rd step parametrization is set as in software
The design variable of bow head corner optimization；And analysis institution's motion state, interference state etc. on the basis of the 1st step preliminary analysis,
Initial value, the variation range of rotating hinge Position Design variable parameter are set.For the example of Fig. 1, Fig. 4, parameter can be such as 2 institute of table
Show.
The initial value of 2 rotating hinge Position Design variable parameter of table, variation range
(5) bow head corner is obtained to the 1st step and maxima and minima processing is carried out to response curve, define bow head corner model
The difference of the maximum value and minimum value for bow head corner is enclosed, angle range is object function, and optimization aim is minimised as with it.
For (4) and (5), as there is no integrated optimization computing module, the calculating of extracted technique model in dynamics software
Text file can optimize parameter, object function, optimization mesh in general optimum software is the softwares such as Isight, Optimus
Target is arranged and Optimization Solution.
(6) in the general dynamic software of integrated optimization computing module algorithms library or general multidisciplinary optimization software
Hinge joint location parameter pantograph kinetic model defined in 3 steps optimizes calculating, solves, and obtains multiple pantograph hinges
The corner prioritization scheme of chain Position Design parametric variable.
(7) multiple prioritization schemes obtained by the 6th step are analyzed, selects certain prioritization schemes therein, utilizes software
The quick variation for driving the parametrization hinge position pantograph kinetic model of third step, carries out pantograph name component interference point
The analyses such as analysis, critical altitude, the pantographs motion state collision problem such as fast verification component interference, working range deficiency,
Rapidly and efficiently obtain the engineering properties such as pantograph collector head corner, component interference, motion range, and carry out odds relatively analyze.
Repeatable step (2)-(7), the hinged relevant position for increasing optimization corresponds to parameter, or main body mechanism is optimized
Hinge position parameter and increase balance the optimization designs variable such as rod unit and its articulated position parameter, with extend and derive by
The new design scheme of pantograph, until the small angle tower bow head mechanism being more satisfied with.
For the pantograph structure of exemplary plot 1, the Optimal Parameters in table 2 can be such that deflection angle ranges are substantially reduced, and be -0.71
~0.71 °, as shown in figure 5, the requirement of the engineering such as bow head corner can be met well.
Claims (2)
1. a kind of small angle tower pantograph collector head design method, which is characterized in that include the following steps：
1) the pantograph kinetic model of imparametrization is established in dynamics software；
2) in the vertical movement plane of pantograph based on working depth position minimum by slide plate, hinge position is optimized to pantograph
Carry out parametrization expression：To optimize the local coordinate system origin of hinge with reference to hinge, indicate optimization hinge to reference to hinge with relative coordinate
Relative position, optimize hinge position parametrization indicate；
3) optimization in the imparametrization pantograph kinetic model established to step 1) is cut with scissors, with optimization hinge position pair in step 2)
Relative coordinate with reference to hinge position is parameter, establishes the pantograph parameters kinetic model of optimization hinge；
4) the relative coordinate parameter that above-mentioned optimization is cut with scissors is set as to the design variable of bow head corner optimization；
5) rising bow process bow head corner of the pantograph mechanism rising bow to slide plate critical altitude when is obtained in dynamics software
Response curve, and obtain the maximum value of bow head rotational response curveWith minimum valueIt defines bow head corner and changes amplitude：Bow head corner variation amplitude is defined as the object function of bow head corner optimization, and excellent with bow head corner
The minimization of object function of changeFor optimization aim；
6) object function that bow head corner in step 5) is optimizedIt optimizes calculating to solve, obtains multiple pantograph optimization hinges
The prioritization scheme of position, a prioritization scheme are the combination for the concrete numerical value for cutting with scissors position optimization design variable；
7) each component interference analysis of pantograph, critical altitude analysis are carried out using multiple prioritization schemes that step 6) obtains,
Pantograph motion state collision problem is verified, obtains pantograph collector head corner, component interference, motion range, and carry out odds
Compared with analysis, the scheme that pantograph collector head corner, component interference, motion range are satisfied by the requirement of pantograph technology is obtained, and therefrom
Choose the scheme of pantograph collector head corner minimum, as preferred plan；
If not meeting the scheme of pantograph technology requirement in said program, increase balance bar, to increase connecting hinge
Increased connects hinge position is carried out the identical parametrization with step 2) and indicated, repeats step 3)~step 7) by chain, until by
Pantograph bow head corner meets technology requirement.
2. according to the method described in claim 1, it is characterized in that, in step 5), by the maximum value of dynamics software with most
Small value processing function obtains the maximum value of bow head rotational response curveWith minimum value
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711097008.4A CN108629065B (en) | 2017-11-09 | 2017-11-09 | Method for designing pantograph head of pantograph with small corner |
| PCT/CN2018/114692 WO2019091442A1 (en) | 2017-11-09 | 2018-11-09 | Pantograph head balancing structure of pantograph having small rotation angle, pantograph head and design method thereof |
| DE112018005307.5T DE112018005307T9 (en) | 2017-11-09 | 2018-11-09 | Compensation mechanism for a pantograph head with a small angle of rotation, pantograph head and design method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711097008.4A CN108629065B (en) | 2017-11-09 | 2017-11-09 | Method for designing pantograph head of pantograph with small corner |
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| CN108629065B CN108629065B (en) | 2021-09-17 |
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Cited By (1)
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| WO2019091442A1 (en) * | 2017-11-09 | 2019-05-16 | 中车株洲电力机车有限公司 | Pantograph head balancing structure of pantograph having small rotation angle, pantograph head and design method thereof |
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| WO2019091442A1 (en) * | 2017-11-09 | 2019-05-16 | 中车株洲电力机车有限公司 | Pantograph head balancing structure of pantograph having small rotation angle, pantograph head and design method thereof |
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