CN108944462A - It is a kind of based on take stream feed back pantograph Active Control Method and control device - Google Patents
It is a kind of based on take stream feed back pantograph Active Control Method and control device Download PDFInfo
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- CN108944462A CN108944462A CN201810812491.8A CN201810812491A CN108944462A CN 108944462 A CN108944462 A CN 108944462A CN 201810812491 A CN201810812491 A CN 201810812491A CN 108944462 A CN108944462 A CN 108944462A
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- pantograph
- air bag
- gas circuit
- train
- pressure
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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
- B60L5/22—Supporting means for the contact bow
- B60L5/28—Devices for lifting and resetting the collector
- B60L5/32—Devices for lifting and resetting the collector using fluid pressure
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The invention discloses a kind of based on the pantograph Active Control Method for taking stream to feed back, comprising: (1) obtains the current signal of pantograph by the current sensor being set in pantograph main cables, and obtain speed signal/position signal of train；(2) section where judging train according to speed signal/position signal of train, cooperation current signal feedback adjust air bag pressure in real time, change the rising bow power of pantograph, to reduce bow net contact point arcing rate.The constant pressure pressure-reducing valve that can not be adjusted in real time in original gas circuit control cabinet is replaced with the controllable electromagnetic relief pressure valve in the setting of non-high voltage part by the present invention, adjust air bag pressure can in real time, it is incorporated in the current sensor being arranged in pantograph main cables, pass through the rising bow power of size of current feedback control pantograph, acceleration area Pantograph-OCS system arcing rate is effectively reduced, to achieve the purpose that reduce electrically wearing away for pantograph pan and contact line.
Description
Technical field
The present invention relates to electric locomotives and motor-car pantograph technical field, in particular, being to be related to one kind to be based on taking stream anti-
The pantograph Active Control Method and control device of feedback.
Background technique
In electric railway and City Rail Transit System, power train obtains electricity from overhead contact line using pantograph
Energy.Pantograph is generally by pantograph pan, upper frame, lower arm rod (both arms bow lower frame), chassis, rising bow spring, transmission gas
The components such as cylinder, support insulator composition.
Pantograph is mounted on car body top, and the contact wire of pantograph pan and offer electric energy is kept in train travelling process
Sliding contact.Pantograph and contact net the two subsystems are combined by bow net contact couple of force, form an interaction
Dynamical system.
Electric energy needed for power train passes through the transmission of the contact point of pantograph pan and contact wire.In accelerator,
Bow net contact point passes through very big electric current.Very big electric current results in bow net contact point arcing, and then increases pantograph pan
With the electrical abrasion of contact line.Many metro pantograph slide plate service life only have the half of desired value, the big discounting of economy at present
Button.
For this purpose, the present invention wishes to reach by the active control to pantograph and reduce acceleration area bow net arcing phenomenon, subtract
The purpose of small abrasion of pantograph pan.
It is a kind of based on State Variable Feedback Linearization Method that document number is that the Chinese patent literature of CN106094520A discloses
Pantograph Active Control Method.The pantograph control method that the document is announced is by establishing ternary bow net Coupled Dynamics mould
Type, and force analysis is carried out to it, Pantograph-OCS system quantity of state is obtained, by its feedback linearization, and finds out transmission function and zero pole
Point reaches linear optimal contro8 strategy so as to adjust rising bow power.
Document number is that the Chinese patent literature of CN105652111A discloses a kind of pantograph dynamic operation Properties Control side
Method and device.It mainly passes through experiment to the control method of pantograph and obtains pantograph in the bow of different directions friction speed grade
By stream performance parameter and pantograph dynamic parameters, the method for then utilizing quadratic polynomial curvilinear regression, bow net connects net
Trend regression curve of the touch under the friction speed grade of different openings direction is returned finally by resulting bow net contact power trend
The dynamic operation performance of curve controlled pantograph.Its principal concern be by the control of the dynamic performance parameter to pantograph,
To control bow net contact power, guarantee that pantograph-catenary current collection is good.
Document number is that the Chinese patent literature of CN2014570094U discloses a kind of active control device for pantograph, the dress
The contact force variation that energy Active Compensation contact net is generated by various factors is set, pressure oscillation is reduced.The device main operational principle
It is to determine that the corresponding pantograph ideal of traffic coverage each position is lifted by computer gas circuit controller and the GPS device on train
Amount, the data such as wind-force, wind direction then obtained according to the data of vehicular speeds table and train anemometer, and combine current contact net
Rigidity value, calculate pantograph different motion state generation total Uplifting amount.Finally according to ideal Uplifting amount and total Uplifting amount
Size, carrying out active opened loop control to air bag to compensate bow net contact pressure makes it remain almost the same.It is main
Focus is the control of the data that are obtained by the device to pantograph air bag, to control bow net contact pressure.
Active control, which is mostly realized by adjusting Dynamic Parameters of Pantograph, to be realized to pantograph at this stage, according to pantograph
Dynamic performance carries out active control.But bow net contact is not accounted for yet there is no the factor for considering that pantograph takes stream in control
The current-carrying capability of point.
Inventor studies this, according to the study the results show that when bow net contact point current-carrying capacity rises, arcing probability
It greatly increases, the abrasion in turn resulting in pantograph pan and contact line increase.Based on this research, inventor proposes quiet by increasing
State rising bow power reduces arcing rate, to reduce bow net abrasion, to improve this case.
Summary of the invention
In order to solve the above technical problem, the present invention provides it is a kind of based on take stream feed back pantograph Active Control Method,
Power is risen to pantograph by bow net contact point electric current and carries out feedback control, bow net contact power increases when making to accelerate, and reduces bow net
The arcing of contact point achievees the purpose that pantograph pan and contact line abrasion reduce.
To achieve the goals above, The technical solution adopted by the invention is as follows:
It is a kind of based on take stream feed back pantograph Active Control Method, include the following steps:
(1) current signal of pantograph is obtained by the current sensor being set in pantograph main cables, and obtains column
Speed signal/position signal of vehicle；
(2) section where judging train according to speed signal/position signal of train, cooperation current signal feedback are adjusted in real time
Air bag pressure is saved, changes the rising bow power of pantograph, to reduce bow net contact point arcing rate；
Wherein, when train is in acceleration area, current signal increases, and adjusts air bag pressure and increases, increases pantograph
Rising bow power；When train is in inert region, current signal reduces, and adjusting air bag pressure reduces, and reduces the rising bow power of pantograph；
When train is in braking section, current signal increases, and adjusts air bag pressure and increases, increases the rising bow power of pantograph.
Specifically, speed signal/position signal of train is obtained by axis-counting device.
Specifically, keep air bag pressure adjustable by the electromagnetic relief pressure valve being set on gas channel of pantograph.
Specifically, the real-time process for adjusting air bag pressure of cooperation current signal feedback in the step (2) are as follows:
(a) size of current that pantograph can carry is divided initially to several sections by 0, each section is one corresponding
Specific air bag pressure preset value corresponds to specific static rising bow power with this；
(b) judge whether the present speed of train is 0, if 0, is then adjusted to the value of air bag pressure by speed signal
Otherwise one standard value carries out in next step；
(c) section according to belonging to the size that the current signal got determines the current signal, by the value of air bag pressure
It is adjusted to specific air bag pressure preset value corresponding to the section.
Specifically, the section of the division, standard value and air bag pressure preset value are according to pantograph model and train operation
Information summary predefines.
Another object of the present invention is to provide it is a kind of realize it is above-mentioned based on take stream feed back pantograph Active Control Method
Control device including the main cables being connect with pantograph and air bag be the air supply source of air bag gas supply, and setting by gas circuit
The gas circuit control cabinet in gas circuit between air bag and air supply source, for acquiring the current sensor in main cables by electric current,
The wheel counting apparatus being set on rail wheel receives capture card institute for obtaining the capture card of current sensor and wheel counting apparatus data
The data of acquisition and the control module determined pantograph state, receive the driver of the output signal of control module, with
And it is set in the gas circuit between air supply source and gas circuit control cabinet and is driven the electromagnetic relief pressure valve of device control；
Wherein, the gas circuit control cabinet is mainly included in the mistake set gradually in the gas circuit between electromagnetic relief pressure valve and air bag
Filter, safety valve and the first one-way throttle valve, the exhaust branch that the gas circuit between safety valve and air bag is arranged in parallel, Yi Jishe
The second one-way throttle valve being placed on exhaust branch, first and second one-way throttle valve it is contrary.
Preferably, the current sensor is the Hall current sensor being placed in main cables.
Preferably, the electromagnetic relief pressure valve is set to the non-high voltage part that the gas circuit corresponds to pantograph.
Specifically, the air supply source includes the air compressor machine with the air circuit connection of gas circuit control cabinet, is set to air compressor machine and gas
The solenoid directional control valve in gas circuit between the control cabinet of road, and the bailout gas being connect with solenoid directional control valve.
Compared with prior art, the invention has the following advantages:
(1) present invention replaces with the constant pressure pressure-reducing valve that can not be adjusted in real time in original gas circuit control cabinet in non-high voltage portion
Set up the controllable electromagnetic relief pressure valve set separately, adjust air bag pressure can in real time, is incorporated in the electric current being arranged in pantograph main cables
Sensor effectively reduces acceleration area Pantograph-OCS system arcing rate by the rising bow power of size of current feedback control pantograph, from
And achieve the purpose that reduce electrically wearing away for pantograph pan and contact line, and present inventive concept is novel, ingenious in design, structure
It is relatively easy, it is easy to accomplish, basis is had a wide range of applications in pantograph control technology field, is suitble to promote and apply.
(2) section that the present invention is presently in by axis-counting device auxiliary judgement train, and then determine current pantograph
Whether curent change is in train acceleration and is easy to produce the stage electrically worn, and improves to the accurate of pantograph active control
Property, make it accelerate to effectively reduce electrical abrasion by increasing rising bow power with the deboost phase, while being also based on to locating area
The judgement of section takes the feedback of flow reduction according to electric current, reduces air bag in due course when train enters the inert region of fast state
Air pressure, to mitigate the mechanical wear of pantograph pan and contact line in the section, thus on the whole reduce pantograph pan with
The abrasion of contact line improve the service life of pantograph corresponding part.
(3) traffic partition that takes of pantograph is multiple sections by the maximum changing range of electric current by the present invention, is preset
The corresponding air bag pressure value in each section can directly be adjusted air bag pressure to preset value after detecting that pantograph takes flow,
Simplified control process is achieved the purpose that.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of pantograph and its control section in the prior art.
Fig. 2 is the structural schematic diagram of the gas circuit control cabinet of pantograph in the prior art.
Fig. 3 is structural block diagram of the invention.
Fig. 4 is the structural schematic diagram of the gas circuit control cabinet in the present invention.
Fig. 5 is setting schematic diagram of the present invention in pantograph.
Fig. 6 is the flow diagram that air bag pressure is adjusted in the present invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and embodiments of the present invention include but is not limited to
The following example.
As illustrated in fig. 1 and 2, pantograph passes through by the lifting of air bag controlled pantograph in the Pantograph-OCS system of the prior art
Gas circuit control cabinet controls the air pressure of air bag, and then controls the size of pantograph rising bow power.In original gas circuit control cabinet, tool
There are constant pressure pressure-reducing valve 15, filter, safety valve and one-way throttle valve, air bag pressure be adjusted by constant pressure pressure-reducing valve,
Normal processes are to adjust in train overhaul to the constant pressure pressure-reducing valve of pantograph, and constant pressure pressure-reducing valve is then during train operation
It is non-adjustable.That is, being to have preset atmospheric pressure value to pantograph air bag by constant pressure pressure-reducing valve in the prior art, make train
During the entire process of all keep same air bag pressure, so that the rising bow power of pantograph be made to maintain a fixed value.According to inventor
To pantograph state of wear the study found that since pantograph in different sections takes flow different, in the section for taking flow big
Such as acceleration area, braking section, the current-carrying capacity of bow net contact point can accordingly rise, and greatly increase arcing rate, thus significantly
The electrical abrasion for increasing pantograph pan and contact line, seriously affect the service life of pantograph pan.Data according to statistics, often
The practical physical life of the pantograph pan of rule only has the half of desired value.Based on this, inventor is from pantograph electric current to by electricity
The direction that bow abrasion influence study and has improved, and proposes solution of the invention.
Embodiment
As shown in Figures 3 to 6, should be included the following steps: based on the pantograph Active Control Method for taking stream to feed back
(1) current signal of pantograph is obtained by the current sensor being set in pantograph main cables, and passes through meter
Speed signal/position signal of axis equipment acquisition train；
(2) section where judging train according to speed signal/position signal of train, cooperation current signal feedback are adjusted in real time
Air bag pressure is saved, changes the rising bow power of pantograph, to reduce bow net contact point arcing rate；
Wherein, when train is in acceleration area, current signal increases, and adjusts air bag pressure and increases, increases pantograph
Rising bow power；When train is in inert region, current signal reduces, and adjusting air bag pressure reduces, and reduces the rising bow power of pantograph；
When train is in braking section, current signal increases, and adjusts air bag pressure and increases, increases the rising bow power of pantograph.
Specifically, keep air bag pressure adjustable by the electromagnetic relief pressure valve being set on gas channel of pantograph.
Specifically, the real-time process for adjusting air bag pressure of cooperation current signal feedback in the step (2) are as follows:
(a) size of current that pantograph can carry is divided initially to several sections by 0, each section is one corresponding
Specific air bag pressure preset value corresponds to specific static rising bow power with this；
(b) judge whether the present speed of train is 0, if 0, is then adjusted to the value of air bag pressure by speed signal
Otherwise one standard value carries out in next step；
(c) section according to belonging to the size that the current signal got determines the current signal, by the value of air bag pressure
It is adjusted to specific air bag pressure preset value corresponding to the section.As shown in the table.
Wherein, i is current flow signal magnitude, I1、I2、I3、I4Deng for section node.
Specifically, the section of the division, standard value and air bag pressure preset value are according to pantograph model and train operation
Information summary predefines.Opened loop control can be used in this method.
Further, realize it is above-mentioned based on take stream feed back pantograph Active Control Method control device, including with by
The main cables 2 and air bag 3 that pantograph 1 connects, are the air supply source 14 of air bag gas supply by gas circuit, and are set to air bag and air supply source
Between gas circuit on gas circuit control cabinet 13 be set to railcar for acquiring in main cables through the current sensor 4 of electric current
Wheel counting apparatus on wheel receives data acquired in capture card simultaneously for obtaining the capture card of current sensor and wheel counting apparatus data
To the control module that pantograph state is determined, the driver of the output signal of control module is received, and is set to gas supply
In gas circuit between source and gas circuit control cabinet and it is driven the electromagnetic relief pressure valve 5 that device controls.
Wherein, the gas circuit control cabinet is mainly included in the mistake set gradually in the gas circuit between electromagnetic relief pressure valve and air bag
Filter 6, safety valve 7 and the first one-way throttle valve 8, the exhaust branch that the gas circuit between safety valve and air bag is arranged in parallel, with
And be set to the second one-way throttle valve 9 on exhaust branch, first and second one-way throttle valve it is contrary.Specifically
Ground, the air supply source include the air compressor machine 11 with the air circuit connection of gas circuit control cabinet, be set to air compressor machine and gas circuit control cabinet it
Between gas circuit on solenoid directional control valve 10, and the bailout gas 12 being connect with solenoid directional control valve.
Preferably, the current sensor is the Hall current sensor being placed in main cables.The capture card according to
According to the output selection of current sensor.The driver is matched according to control module output voltage and electromagnetic relief pressure valve required voltage
It sets.Existing PLC controller or singlechip controller can be used in the control module.The electromagnetic relief pressure valve is set to the gas
Road corresponds to the non-high voltage part of pantograph.Further, the control module can be configured to independent control device, can also collect
At in the control system of train.
Above-described embodiment is merely a preferred embodiment of the present invention, and it is not intended to limit the protection scope of the present invention, as long as using
Design principle of the invention, and the non-creative variation worked and made is carried out on this basis, it should belong to of the invention
Within protection scope.
Claims (9)
1. a kind of based on the pantograph Active Control Method for taking stream to feed back, which comprises the steps of:
(1) current signal of pantograph is obtained by the current sensor being set in pantograph main cables, and obtains train
Speed signal/position signal；
(2) section where judging train according to speed signal/position signal of train, cooperation current signal feedback adjust gas in real time
Capsule air pressure changes the rising bow power of pantograph, to reduce bow net contact point arcing rate；
Wherein, when train is in acceleration area, current signal increases, and adjusts air bag pressure and increases, increases the rising bow of pantograph
Power；When train is in inert region, current signal reduces, and adjusting air bag pressure reduces, and reduces the rising bow power of pantograph；Work as column
When vehicle is in braking section, current signal increases, and adjusts air bag pressure and increases, increases the rising bow power of pantograph.
2. according to claim 1 based on the pantograph Active Control Method for taking stream to feed back, which is characterized in that pass through meter shaft
Speed signal/position signal of equipment acquisition train.
3. described in any item based on the pantograph Active Control Method for taking stream to feed back according to claim 1, which is characterized in that logical
Crossing the electromagnetic relief pressure valve being set on gas channel of pantograph keeps air bag pressure adjustable.
4. described in any item based on the pantograph Active Control Method for taking stream to feed back according to claim 1~3, feature exists
In cooperation current signal feedback adjusts the process of air bag pressure in real time in the step (2) are as follows:
(a) size of current that pantograph can carry is divided initially to several sections by 0, corresponding one of each section is specific
Air bag pressure preset value, specific static rising bow power is corresponded to this；
(b) judge whether the present speed of train is 0, if 0, then the value of air bag pressure is adjusted to a mark by speed signal
Otherwise quasi- value carries out in next step；
(c) section according to belonging to the size that the current signal got determines the current signal adjusts the value of air bag pressure
For specific air bag pressure preset value corresponding to the section.
5. according to claim 4 kind based on the pantograph Active Control Method for taking stream to feed back, which is characterized in that described stroke
Section, standard value and the air bag pressure preset value divided is predefined according to pantograph model and train operation information summary.
6. realizing the control dress as claimed in any one of claims 1 to 5 based on the pantograph Active Control Method for taking stream to feed back
Set, including the main cables connecting with pantograph and air bag, by gas circuit be the air supply source of air bag gas supply, and be set to air bag with
Gas circuit control cabinet in gas circuit between air supply source, which is characterized in that further include for acquiring the electricity in main cables by electric current
Flow sensor, the wheel counting apparatus being set on rail wheel are received for obtaining the capture card of current sensor and wheel counting apparatus data
Data acquired in capture card and the control module determined pantograph state, receive the drive of the output signal of control module
Device is moved, and in the gas circuit being set between air supply source and gas circuit control cabinet and is driven the electromagnetic relief pressure valve that device controls；
Wherein, the gas circuit control cabinet is mainly included in the filtering set gradually in the gas circuit between electromagnetic relief pressure valve and air bag
Device, safety valve and the first one-way throttle valve, the exhaust branch that the gas circuit between safety valve and air bag is arranged in parallel, and setting
In the second one-way throttle valve on exhaust branch, first and second one-way throttle valve it is contrary.
7. control device according to claim 6, which is characterized in that the current sensor is to be placed in main cables
Hall current sensor.
8. control device according to claim 6, which is characterized in that it is corresponding that the electromagnetic relief pressure valve is set to the gas circuit
The non-high voltage part of pantograph.
9. according to the described in any item control devices of claim 6~8, which is characterized in that the air supply source includes and gas circuit control
The air compressor machine of the air circuit connection of case processed, the solenoid directional control valve being set in the gas circuit between air compressor machine and gas circuit control cabinet, and
The bailout gas being connect with solenoid directional control valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810812491.8A CN108944462B (en) | 2018-07-23 | 2018-07-23 | Pantograph active control method and device based on current taking feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810812491.8A CN108944462B (en) | 2018-07-23 | 2018-07-23 | Pantograph active control method and device based on current taking feedback |
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| CN108944462B CN108944462B (en) | 2023-09-08 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111959283A (en) * | 2020-08-20 | 2020-11-20 | 临沂会宝岭铁矿有限公司 | Automatic pantograph lifting device of electric locomotive |
| CN112346395A (en) * | 2020-10-15 | 2021-02-09 | 中车青岛四方机车车辆股份有限公司 | Pantograph slide plate abrasion intelligent control system and method |
| CN115635854A (en) * | 2022-09-01 | 2023-01-24 | 唐山百川智能机器股份有限公司 | Pantograph-net contact control method based on machine learning |
| CN116400623A (en) * | 2023-04-06 | 2023-07-07 | 南京星河世纪信息技术有限公司 | Intelligent monitoring system for high-voltage equipment |
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| CN115635854B (en) * | 2022-09-01 | 2024-02-13 | 唐山百川智能机器股份有限公司 | Bow net contact control method based on machine learning |
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