CN109472887A - Vehicle hanging running rate recognizing method and device - Google Patents
Vehicle hanging running rate recognizing method and device Download PDFInfo
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- CN109472887A CN109472887A CN201811407657.4A CN201811407657A CN109472887A CN 109472887 A CN109472887 A CN 109472887A CN 201811407657 A CN201811407657 A CN 201811407657A CN 109472887 A CN109472887 A CN 109472887A
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- G—PHYSICS
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
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Abstract
The present invention provides a kind of vehicle hanging running rate recognizing method and devices.The described method includes: the vertical acceleration data of the car body of acquisition vehicle, framework and wheel pair；According to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data, suspension status parameter is determined；According to the suspension status parameter, the operating status of vehicle hanging is judged.The present invention realizes real-time online detection vehicle hanging state, the safety of vehicle operation is enhanced, while being realized using system and its performance state of component as whether carrying out the foundation of maintenance replacement, reduction operation maintenance cost, security risk is excluded, ensures train operating safety.
Description
Technical field
The present invention relates to rail traffic vehicles safety monitoring technology field, espespecially a kind of vehicle hanging running state recognition side
Method and device.
Background technique
Vehicle hanging be located at bogie and wheel between (referred to as single stage suspension) and car body and bogie (referred to as
Secondary suspension).Suspension connection supports car body, bogie and wheel pair, plays buffering wheel track as caused by track irregularity and makees
Firmly, it guides normal vehicle operation, maintain the effects of running comfort, be the key that ensure that rolling stock's safe operation is set
It is standby.It once suspension is broken down, if discovery and processing are not in time, will directly jeopardize train operating safety, or even can cause serious
Safety accident, thus be that rail vehicle is safe all the time with fault diagnosis for the performance monitoring of vehicle hanging operating status and supervise
One of the focus on research direction in survey field.
There are many benefits for safety and operation to the real-time performance monitoring and fault diagnosis of vehicle hanging.On the one hand,
Vehicle unstability is even safe caused by the incipient fault detection of suspension component can be prevented because of component capabilities severe exacerbation
Accident, to enhance the safety of vehicle operation.On the other hand, the real-time monitoring of suspension parts performance makes based on state
Maintenance policy is possibly realized, i.e., the maintenance of Vehicular system and its component be no longer periodically carry out, but with system and its
The performance state of component as whether carry out maintenance replacement foundation.Timely suspension parts maintenance increases railcar with replacement
Operation reliability, improve transport capacity, while can reduce significantly because of a system caused by traditional periodic maintenance
Column correlative charges.Therefore, real-time performance monitoring is carried out to vehicle hanging all parts, fault diagnosis is very necessary and intentional
Justice.
But artificial detection is rested on to the safety monitoring of vehicle hanging at present, needs to expend a large amount of human resources, but without
Method realizes real-time online detection, and detection efficiency is low, accuracy is poor, and testing result can not accurately react the shape of vehicle hanging
State.
Summary of the invention
Existing labor intensive, the problem that detection efficiency is low and accuracy is poor, the present invention are detected for current vehicle hanging
Embodiment provides a kind of vehicle hanging running rate recognizing method, which comprises
The car body, framework and wheel of vehicle are acquired to vertical acceleration data；
According to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data, hanging like is determined
State parameter；
According to the suspension status parameter, the operating status of vehicle hanging is judged.
Optionally, in an embodiment of the present invention, car body, framework and the wheel of the acquisition vehicle are to vertical acceleration data
It include: car body, framework and the wheel when class shock response occurs in vehicle traveling in acquisition to vertical acceleration data.
Optionally, in an embodiment of the present invention, the method also includes: according to the structure of the vehicle, determine equivalent
Kinetic model；According to the dynamically equivalent model, the Vehicular system model is determined；Acquire multiple state normal vehicles
Wheel is to vertical acceleration data；Using the wheel of multiple state normal vehicles to vertical acceleration data and the Vehicular system mould
Type determines corresponding normal suspension status parameter；According to the normal suspension status parameter, normal operating condition range is determined.
Optionally, in an embodiment of the present invention, described according to the suspension status parameter, judge the operation of vehicle hanging
Whether state includes: to judge it within the scope of the normal operating condition according to the suspension status parameter；If so, vehicle
The operating status of suspension is normal；If it is not, then the operating status of vehicle hanging is abnormal.
The embodiment of the present invention also provides a kind of vehicle hanging running state recognition device, and described device includes:
Data acquisition unit, for acquiring the car body, framework and wheel of vehicle to vertical acceleration data；
Parameter determination unit, for being accelerated according to preset Vehicular system model and the car body, framework and wheel to vertical
Degree evidence determines suspension status parameter；
Status determining unit, for judging the operating status of vehicle hanging according to the suspension status parameter.
Optionally, in an embodiment of the present invention, the data acquisition unit includes: real-time acquisition module, for acquiring
Occur car body, framework and the wheel when class shock response in vehicle traveling to vertical acceleration data.
Optionally, in an embodiment of the present invention, described device further include: dynamically equivalent model unit is used for basis
The structure of the vehicle, determines dynamically equivalent model；System model unit is used for according to the dynamically equivalent model, really
The fixed Vehicular system model；Normal data acquisition unit acquires the car body, framework and wheel of multiple state normal vehicles to vertical
Acceleration information；Normal parameter determination unit, for being accelerated using the car body of multiple state normal vehicles, framework and wheel to vertical
Degree evidence and the Vehicular system model, determine corresponding normal suspension status parameter；State range determination unit is used for basis
The normal suspension status parameter, determines normal operating condition range.
Optionally, in an embodiment of the present invention, the status determining unit includes: condition judgment module, is used for basis
Whether the suspension status parameter judges it within the scope of the normal operating condition；If so, the operating status of vehicle hanging
It is normal；If it is not, then the operating status of vehicle hanging is abnormal.
The embodiment of the present invention also provides a kind of computer equipment, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, the processor perform the steps of when executing the computer program
The car body, framework and wheel of vehicle are acquired to vertical acceleration data；
According to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data, hanging like is determined
State parameter；
According to the suspension status parameter, the operating status of vehicle hanging is judged.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, the meter
Calculation machine program performs the steps of when being executed by processor
The car body, framework and wheel of vehicle are acquired to vertical acceleration data；
According to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data, hanging like is determined
State parameter；
According to the suspension status parameter, the operating status of vehicle hanging is judged.
The present invention realizes real-time online detection vehicle hanging state, enhances the safety of vehicle operation, realizes simultaneously
Using system and its performance state of component as whether the foundation of maintenance replacement is carried out, operation maintenance cost is reduced, peace is excluded
Full hidden danger ensures train operating safety.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, embodiment will be described below
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is middle orbit of embodiment of the present invention vehicle structure schematic diagram；
Fig. 2 is a kind of flow chart of vehicle hanging running rate recognizing method of the embodiment of the present invention；
Fig. 3 is dynamic system model schematic diagram in the embodiment of the present invention；
Fig. 4 is vertical reduced mechanism schematic diagram in the embodiment of the present invention；
Fig. 5 A and Fig. 5 B be in the embodiment of the present invention wheel-rail impact schematic diagram and when wheel-rail impact axle box vertical acceleration
Response diagram；
Fig. 6 is a kind of structural schematic diagram of vehicle hanging running state recognition device of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention provides a kind of vehicle hanging running rate recognizing method and device.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Vehicle hanging be located at bogie and wheel between (referred to as single stage suspension) and car body and bogie (referred to as
Secondary suspension), as shown in Figure 1.Vehicle hanging shown in Fig. 1 include 1. journal box spring, one be 2. vertical damper, 3. air
Spring, 4. anti-snake damper and two be 5. transverse damper.
It is illustrated in figure 2 a kind of flow chart of vehicle hanging running rate recognizing method of the embodiment of the present invention, described in figure
Method includes: step S1, acquires the car body, framework and wheel of vehicle to vertical acceleration data；
Step S2 is determined according to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data
Suspension status parameter；
Step S3 judges the operating status of vehicle hanging according to the suspension status parameter.
In the present embodiment, in the process of moving, when by positions such as rail connections, entire car body can generate vibration to vehicle
Dynamic, vehicle hanging plays the role of damping.Due to when vehicle is by positions such as rail connections, wheel jolts simultaneously to being first subjected to
Vibration is generated, normal acceleration, the vertical acceleration data of acquisition car body, framework and wheel pair is consequently formed.In vehicle driving reality
When detection process in, need using the Vehicular system model that pre-establishes, using the vertical acceleration data taken turns pair as input, general
Vertical speed data of car body and framework generates suspension status parameter after the calculating of Vehicular system model as output.It is outstanding
Hanging state parameter can reflect out the current state of vehicle hanging, judge the current state of vehicle hanging according to suspension status parameter
It is whether normal.
As one embodiment of the invention, the car body, framework and wheel for acquiring vehicle include: acquisition to vertical acceleration data
Occurs the vertical acceleration data of car body when class shock response, framework and wheel pair in vehicle traveling.Vehicle can go out under steam
Now many tiny vibrations, and will receive the influence of noise of the factors such as air.Therefore, car body, framework and wheel is acquired to add to vertical
When speed data, selection acquisition passes through the position such as rail connection in vehicle, and the car body of class shock response, framework occurs
And wheel is to vertical acceleration data.When there is class shock response, the noise that the factors such as environment generate is in comparison weaker, this
Sample can greatly improve Detection accuracy.
As one embodiment of the invention, the method also includes: according to the structure of the vehicle, determine equivalent power
Model；According to the dynamically equivalent model, the Vehicular system model is determined；Acquire multiple state normal vehicles car body,
Framework and wheel are to vertical acceleration data；Using the car body of multiple state normal vehicles, framework and wheel to vertical acceleration data
And the Vehicular system model, determine corresponding normal suspension status parameter；According to the normal suspension status parameter, determine just
Normal operating status range.
In the present embodiment, it needs to establish Vehicular system model before on-line real time monitoring, and model is instructed offline
Practice, thereby determines that when vehicle hanging is normal, the corresponding normal operating condition range of suspension status parameter.According to known vehicle
Mechanism establishes dynamically equivalent model.According to dynamically equivalent model, the state space expression of vehicle dynamic model is obtained
Thus formula establishes Vehicular system model.The normal vehicle of known suspension status is chosen, the multiple groups when operation of such vehicle are acquired
Car body, framework and wheel are to vertical acceleration data.After collected data are screened, cleaned etc. with pretreatment, using for example
Particle filter, Kalman filtering are iterated calculation to Vehicular system model, multiple normal suspension status parameters are obtained, thus really
Determine the suspension normal operating condition range of vehicle in normal state.
In the present embodiment, according to the suspension status parameter, judge that the operating status of vehicle hanging includes: according to
Whether suspension status parameter judges it within the scope of the normal operating condition；If so, the operating status of vehicle hanging is positive
Often；If it is not, then the operating status of vehicle hanging is abnormal.After vehicle hanging normal operating condition range has been determined, it will obtain
Real-time suspension status parameter be compared with normal operating condition range, judge whether suspension status parameter is in normal fortune
In row state range.If so, illustrating that vehicle hanging operating status is normal, if it is not, then illustrating that vehicle hanging operating status is abnormal.
Further, in vehicle hanging operating status exception, that part can further be judged according to suspension status parameter
Suspension is abnormal, which exception occurs.
In one embodiment, the system model concept definition of engineering in practice is very wide, many physics, chemical
, biological and economic phenomenon can all be modeled based on system model.Although real system is had nothing in common with each other in mechanism,
It can nearly all be described with dynamic system model shown in Fig. 3.The notional source of system is one kind with mathematics from cybernetics in figure
The input of form abstractdesription has algebraic equation, the differential equation, difference equation with the associated mode of outlet chamber essence, common form
With state equation etc..It is different according to practical object complexity, it, can be preferable by reasonably adjusting internal system structure and parameter
The transitive relation of ground quantitative description system input and outlet chamber.Likewise, determining known premise in research object model structure
Under, the real physical characteristics of system model parameter and research object form indirect corresponding relationship.Thus for vehicle hanging,
Based on known vehicle structure and physical parameter, vehicle dynamic model is rationally established, and further obtains system state space
Expression formula.
Since train is when big straight line operates normally, the complexity of information that vibration signal includes mainly from Vehicular system
Coupled vibrations, and from extraneous environmental disturbances；And when wheel track excitation is impacted, the vibration transmissibility of suspension
It can show to the greatest extent.It, cannot be simply by axle box, framework, car body thus during Parameter identification
The acceleration value of equal measuring points acquisition is inputted as system, and needs in advance to screen these signals, and wheel track is impacted
When each measuring point " class shock response " extract and inputted as system.Then i.e. using the realization pair of Parameter identification algorithm
The real-time online of vehicle hanging operating status is assessed.Above and the groundwork and achievement of this patent.
In one embodiment, vehicle hanging operating status process includes the following four stage:
1) the system modelling stage
Vehicle dynamic model is established using known vehicle structure and kinetic characteristics, and according in train actual motion
Physics law column write comprising nodding, shaking the head, side-sway, the multivariant kinetics equation group such as translation, and then it is dynamic to obtain vehicle
The state-space expression of mechanical model completes system modelling.
2) the data screening stage
It is taken turns in the process of running according to vehicle to vehicle vibration when periodically causing wheel track to impact by rail joint
Dynamic signal characteristic, the measuring points such as axle box, framework, the car body of a large amount of suspension state normal vehicles of ground long-term accumulation are vertical
" the class shock response " of acceleration signal extracts, the sample set as ground training.
3) off-line training step
Based on obtained system model, by the axle box of a large amount of normal vehicles after through screening, framework and car body " class is rushed
Hit response " vertical acceleration data input as system, one group of vehicle is obtained in normal state using Identification of parameter
System model parameter section.
4) the application on site stage
When vehicle in the process of running, based on obtained system model, obtain vehicle in real time using same Filtering system
It is inputted by " the class shock response " of the measuring points such as axle box, framework, car body when rail joint as system, utilizes Identification of parameter
The real-time system model parameter of vehicle hanging is obtained, and is compared in real time with the parameter section under normal condition, it is obvious different when existing
Then show suspension parts existing defects and hidden danger when often, the real-time online of vehicle hanging operating status is assessed to realize.
Specifically, system modelling realizes process:
According to vehicle structure known in Fig. 1, equivalent reduced mechanism can establish, as shown in Figure 4.One in figure
Be suspension stiffness be each component rigidity of bogie assembly, secondary suspension rigidity between car body and bogie each component rigidity it is total
At damping is similar therewith.According to classical vehicle power theory, Vehicular system has 6 freedom degrees vertical, and wherein car body has 2
A freedom degree (sink-float zc, nod βc), each bogie has 2 freedom degree (z respectivelyb1、βb1；zb2、βb2)。
If mc、mbThe respectively quality of car body and bogie；ic、ibThe respectively rotary inertia of nodding of car body and bogie；
cp、csA respectively system and two is vertical damping, uses cp1、cp2、cp3、cp4、cs1、cs2It indicates；kp、ksA respectively system and two systems
Vertical stiffness uses kp1、kp2、kp3、kp4、ks1、ks2It indicates；lcFor the half of car body and bogie pivot center, lsFor car body and turn to
Frame center away from half；
zc、zb1、zb2The respectively vertical sink-float displacement of car body, forecarriage, trailing bogie；βc、βb1、βb2Respectively vehicle
The angular displacement of nodding of body, forecarriage, trailing bogie；zv1、zv2、zv3、zv4
The vertical excitation of wheel track is represented, there are phase differences in time series between them, may be expressed as:
zv1(t)=zv2(t+2lb/ v)=zv3(t+2lc/ v)=zv4(t+2(lc+lb)/v) (1)
In formula, v is running velocity.
So far, the oscillatory differential equation of the 6DOF reduced mechanism includes:
1. car body rises and falls
2. car body is nodded
3. forecarriage rises and falls
4. forecarriage is nodded
5. trailing bogie rises and falls
6. trailing bogie is nodded
Above-mentioned (2)-(7) formula is converted to state equation, and to get the state-space model for the system of arriving after discretization:
xk=Axk-1+Buk-1+wk (8)
yk=Hxk+vk (9)
In formula: xk、xk+1It is illustrated respectively in kTs、(k+1)TsMoment Vehicular system vertical deviation and speed state,
uk、uk+1It is illustrated respectively in kTsThe vertical excitation of moment wheel track, can be indirect by being mounted on the acceleration transducer of axle box
It obtains,
yk、yk+1It is illustrated respectively in kTs、(k+1)TsThe acceleration of moment Vehicular system, can be by being mounted on car body and framework
Acceleration transducer obtain,
In addition, matrix A is state parameter matrix, B is input parameter vector, H (solid by system for output parameter vector
Some parameters determine；wk、vkRespectively system mode noise and observation noise, to system input, export it is uncorrelated, if its association side
Poor matrix is respectively Q and R.So far the process that vehicle-state spatial model is established based on known vehicle structure, Jin Erke is completed
To carry out Parameter identification using this model.
Further, data screening realizes process:
Rail truck is that a typical complex electromechanical systems exist between various vehicle components during train operation
Complicated coupled vibrations.To make the model established as far as possible just need to establish more close to Vehicular system real motion state
The state space of order, but order it is excessively high can be caused due to numerical problem etc. recognize accuracy rate decline；If the model established
Too simple, identification effect is good, but model has differences with vehicle real motion, thus easily receives vehicle part eigen mode
The interference of state vibration and Vehicular system high-order coupled vibrations.
In train travelling process, when wheel is to by steel rail welding line, instantaneous big excitation can be generated between wheel track, thus outstanding
Axle box, framework, car body is set to generate a kind of vibrational waveform of similar system shock response under the action of extension system, such as Fig. 5 A and Fig. 5 B
It is shown.It is greater than vibrational energy when vehicle even running due to the energy original of temporary impact, thus in impact generation and then
In a bit of time, become the principal vibration ingredient of Vehicular vibration by the convergent oscillation that suspension plays a leading role.
Therefore to solve the problems, such as above-mentioned identification precision, data are screened before parameter identification, wheel is welded to by track
" class impact is corresponding " of the measuring points such as axle box, framework, car body when seam is used as mode input, increases identification precision.
Further, off-line training realizes process:
Based on obtained system model, by a large amount of car bodies, the framework, axle box of vibration monitoring equipment existing on vehicle acquisition accumulation
Acceleration information (when suspension fault-free), after the pretreatment such as data screening, cleaning, utilizes particle filter and Kalman filtering pair
Vehicle-state spatial model is iterated calculation, to obtain the system model parameter of one group of vehicle in normal state.
Assuming that it is θ that vehicle suspension system, which needs the location parameter matrix estimated, and when parameter is, is constant.Then original state side
Element changes with θ and is changed in A, B, H-matrix in journey, thus the vertical state-space model of Vehicular system can be rewritten as following shape
Formula:
xk+1=A (θ) xk+B(θ)uk+wk (13)
yk+1=H (θ) xk+1+vk+1 (14)
By matrix of unknown parameters θ and state variable x composition augmented state vector X=[x | θ], target is estimated with particle filter
Parameter matrix θ iterate after operation with Kalman filtering, and primary converges near actual position parameter, i.e., complete
At Parameter identification.
If initial state estimation is x0, initial state estimation variance is P0, the range [θ of location parameter matrix θmin,
θmax], number of particles Np, the number of iterations T, then iterative process is as follows:
Step 1: one group of initial value of reasonable set, parameter θ is in [θmin,θmax] between uniform sampling, initial displacement, speed stateOriginal state variance P0(i)=P0；I=1,2 ..., Np。
Step 2: the Kalman filtering first step, the state and variance of the value estimation subsequent time based on last moment.
xk|k-1(i)=A (θk-1(i))xk-1(i)+B(θk-1(i))uk-1(i) (15)
Pk|k-1(i)=A (θk-1(i))Pk-1(i)AT(θk-1(i))+Q (16)
Step 3: car body, the framework vertical acceleration value y collected using the k momentkCalculate variance and each particle
In the normalization weight q at k momentk(i)。
yk|k-1(i)=H (θk-1(i))xk-1(i)+B(θk-1(i))uk-1(i) (17)
Pk(i)=H (θk-1(i))Pk|k-1(i)HT(θk-1(i))+R (18)
F (x) is multidigit normal distyribution function, mean value y in above formulak|k-1(i)；N is normal distyribution function.
Step 4: particle sizing, if m-th of particle θk(k) weight qk(i) when meeting following formula (21), then retain the particle
And corresponding xk|k-1(m)、Pk|k-1(m)、yk|k-1(m)、Rk(m).And ungratified particle is rejected from population.
Step 5: parameter Estimation.
Step 6: Kalman filtering parameter updates, and prepares for next iteration.
xk(i)=xk|k-1(i)+Kk(i)(yk-yk|k-1(i)) (24)
Pk(i)=Pk|k-1(i)-Kk(i)H(θk(i))Pk|k-1(i) (25)
Step 7: judging whether following formula (26) is true, and return step 2 continues to iterate to calculate if invalid；The table if setting up
Bright population has restrained, and Fe coatings are the result of Parameter identification.
Further, application on site realizes process:
It, will on the basis of above system models realization process, data screening realizes process and off-line training realization process
In the real-time stream input algorithm of the measuring points such as axle box, framework, the car body that existing vibration monitoring equipment acquires in real time on vehicle, utilize
Above-mentioned parameter identification algorithm obtains the real-time system model parameter of vehicle hanging, and compares in real time with the parameter section under normal condition
It is right, then show suspension parts existing defects and hidden danger when having obvious abnormal, to realize to vehicle hanging operating status
Real-time online assessment.
The present invention establishes simplified equivalent state spatial model using known vehicle structure and physical characteristic.And then it is based on
Parameter identification technology, using acceleration transducer signals existing on vehicle, real time on-line monitoring assesses vehicle hanging operation
State.It can be in the case where disassembling bogie, real-time quantization grasps the physics such as one system of train, the rigidity of secondary suspension, damping
Characteristic states.When train, which is put in storage, to be overhauled, specific aim instructs library to examine personnel's operation, replaces the steel bomb of operating status exception in time
The suspension parts such as spring, damper avoid the accelerated ageing of wheeling edge wearing and other component caused by framework and car body high vibration,
Operation maintenance cost is reduced, security risk is excluded, ensures train operating safety.
Vehicle hanging running rate recognizing method through the invention realizes real-time online detection vehicle hanging state, increases
The strong safety of vehicle operation, while realizing using system and its performance state of component as whether carrying out overhauling replacement
Foundation reduces operation maintenance cost, excludes security risk, ensures train operating safety.
A kind of structural schematic diagram of vehicle hanging running state recognition device of the embodiment of the present invention is illustrated in figure 6, in figure
Shown device includes: data acquisition unit 10, for acquiring the car body, framework and wheel of vehicle to vertical acceleration data；
Parameter determination unit 20, for being added according to preset Vehicular system model and the car body, framework and wheel to vertical
Speed data determines suspension status parameter；
Status determining unit 30, for judging the operating status of vehicle hanging according to the suspension status parameter.
As one embodiment of the invention, data acquisition unit includes: real-time acquisition module, for acquiring in vehicle driving
Middle car body, framework and wheel when there is class shock response is to vertical acceleration data.
As one embodiment of the invention, described device further include: dynamically equivalent model unit, for according to the vehicle
Structure, determine dynamically equivalent model；System model unit, described in determining according to the dynamically equivalent model
Vehicular system model；Normal data acquisition unit acquires the car body, framework and wheel of multiple state normal vehicles to normal acceleration
Data；Normal parameter determination unit, for utilizing the car body, framework and wheel of multiple state normal vehicles to vertical acceleration data
And the Vehicular system model, determine corresponding normal suspension status parameter；State range determination unit, for according to it is described just
Normal suspension status parameter, determines normal operating condition range.
In the present embodiment, status determining unit includes: condition judgment module, is used for according to the suspension status parameter,
Judge it whether within the scope of the normal operating condition；If so, the operating status of vehicle hanging is normal；If it is not, then vehicle
The operating status of suspension is abnormal.
Conceived based on application identical with a kind of above-mentioned vehicle hanging running rate recognizing method, the present invention also provides upper
State a kind of vehicle hanging running state recognition device.Due to a kind of original that vehicle hanging running state recognition device solves the problems, such as
Reason is similar to a kind of vehicle hanging running rate recognizing method, therefore a kind of implementation of vehicle hanging running state recognition device
It may refer to a kind of implementation of vehicle hanging running rate recognizing method, overlaps will not be repeated.
Vehicle hanging running state recognition device through the invention realizes real-time online detection vehicle hanging state, increases
The strong safety of vehicle operation, while realizing using system and its performance state of component as whether carrying out overhauling replacement
Foundation reduces operation maintenance cost, excludes security risk, ensures train operating safety.
The embodiment of the present invention also provides a kind of computer equipment, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, the processor perform the steps of when executing the computer program
The car body, framework and wheel of vehicle are acquired to vertical acceleration data；
According to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data, hanging like is determined
State parameter；
According to the suspension status parameter, the operating status of vehicle hanging is judged.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, the meter
Calculation machine program performs the steps of when being executed by processor
The car body, framework and wheel of vehicle are acquired to vertical acceleration data；
According to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data, hanging like is determined
State parameter；
According to the suspension status parameter, the operating status of vehicle hanging is judged.
Conceived based on application identical with a kind of above-mentioned vehicle hanging running rate recognizing method, the present invention also provides upper
State a kind of computer equipment and a kind of computer readable storage medium.Due to a kind of computer equipment and a kind of computer-readable
The principle that storage medium solves the problems, such as is similar to a kind of vehicle hanging running rate recognizing method, therefore a kind of computer equipment
And a kind of implementation of computer readable storage medium may refer to a kind of implementation of vehicle hanging running rate recognizing method, repeat
Place repeats no more.
Computer equipment and computer readable storage medium through the invention realizes real-time online detection vehicle hanging
Whether state enhances the safety of vehicle operation, while realizing using system and its performance state of component as being examined
The foundation of replacement is repaired, operation maintenance cost is reduced, excludes security risk, ensures train operating safety.
Those of ordinary skill in the art will appreciate that implementing the method for the above embodiments can lead to
Program is crossed to instruct relevant hardware and complete, which can be stored in a computer readable storage medium, such as
ROM/RAM, magnetic disk, CD etc..
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail it is bright, it should be understood that the above is only a specific embodiment of the present invention, the guarantor being not intended to limit the present invention
Range is protected, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this
Within the protection scope of invention.
Claims (10)
1. a kind of vehicle hanging running rate recognizing method, which is characterized in that the described method includes:
The car body, framework and wheel of vehicle are acquired to vertical acceleration data；
According to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data, determine that suspension status is joined
Number；
According to the suspension status parameter, the operating status of vehicle hanging is judged.
2. the method according to claim 1, wherein car body, framework and the wheel of the acquisition vehicle add to vertical
Speed data includes: car body, framework and wheel when class shock response occurs in vehicle traveling in acquisition to vertical acceleration data.
3. the method according to claim 1, wherein the method also includes:
According to the structure of the vehicle, dynamically equivalent model is determined；
According to the dynamically equivalent model, the Vehicular system model is determined；
The car body, framework and wheel of multiple state normal vehicles are acquired to vertical acceleration data；
Using the car body of multiple state normal vehicles, framework and wheel to vertical acceleration data and the Vehicular system model, really
Fixed corresponding normal suspension status parameter；
According to the normal suspension status parameter, normal operating condition range is determined.
4. according to the method described in claim 3, judging that vehicle is outstanding it is characterized in that, described according to the suspension status parameter
The operating status of extension includes:
According to the suspension status parameter, judge it whether within the scope of the normal operating condition；If so, vehicle hanging
Operating status is normal；If it is not, then the operating status of vehicle hanging is abnormal.
5. a kind of vehicle hanging running state recognition device, which is characterized in that described device includes:
Data acquisition unit, for acquiring the car body, framework and wheel of vehicle to vertical acceleration data；
Parameter determination unit is used for according to preset Vehicular system model and the car body, framework and wheel to normal acceleration number
According to determining suspension status parameter；
Status determining unit, for judging the operating status of vehicle hanging according to the suspension status parameter.
6. device according to claim 5, which is characterized in that the data acquisition unit includes: real-time acquisition module, is used
Car body, framework and wheel when class shock response occurs in vehicle traveling in acquisition is to vertical acceleration data.
7. device according to claim 5, which is characterized in that described device further include:
Dynamically equivalent model unit determines dynamically equivalent model for the structure according to the vehicle；
System model unit, for determining the Vehicular system model according to the dynamically equivalent model；
Normal data acquisition unit acquires the car body, framework and wheel of multiple state normal vehicles to vertical acceleration data；
Normal parameter determination unit, for the wheel using multiple state normal vehicles to vertical acceleration data and the vehicle system
System model, determines corresponding normal suspension status parameter；
State range determination unit, for determining normal operating condition range according to the normal suspension status parameter.
8. device according to claim 7, which is characterized in that the status determining unit includes:
Condition judgment module, for judging it whether within the scope of the normal operating condition according to the suspension status parameter；
If so, the operating status of vehicle hanging is normal；If it is not, then the operating status of vehicle hanging is abnormal.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor performs the steps of when executing the computer program
The car body, framework and wheel of vehicle are acquired to vertical acceleration data；
According to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data, determine that suspension status is joined
Number；
According to the suspension status parameter, the operating status of vehicle hanging is judged.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
It is performed the steps of when being executed by processor
The car body, framework and wheel of vehicle are acquired to vertical acceleration data；
According to preset Vehicular system model and the car body, framework and wheel to vertical acceleration data, determine that suspension status is joined
Number；
According to the suspension status parameter, the operating status of vehicle hanging is judged.
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