CN110595995B - Method for measuring relation between adhesion coefficient and slip ratio under railway vehicle braking and test bed - Google Patents
Method for measuring relation between adhesion coefficient and slip ratio under railway vehicle braking and test bed Download PDFInfo
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Abstract
The invention relates to a method for measuring the relation between an adhesion coefficient and a slip ratio under railway vehicle braking and a test bed, wherein each function of the test bed is confirmed to be normal; after the traction is carried out until the target speed is stable, switching a motor control mode to a torque control mode, and performing compensation control; presetting a slip rate limit value for a brake control device, installing an exhaust valve on a pipeline leading to a brake cylinder, applying braking to a bogie after measurement begins, and collecting data in real time to calculate an adhesion coefficient and a slip rate; when the slip rate reaches a preset value, rapidly and once evacuating the pressure of the brake cylinder through an exhaust valve; repeating the same working condition for a plurality of times to eliminate random errors. The rail wheel speed, axle weight, and rail surface conditions were changed in sequence and the above measurements were repeated. And generating a three-dimensional curved surface based on a plurality of groups of adhesion coefficient-slip rate relation curves obtained by measurement at different speeds, and drawing out an adhesion coefficient extreme point connecting line. Compared with the prior art, the invention has the advantages of low test requirement, low test risk and the like.
Description
Technical Field
The invention relates to a railway vehicle adhesion characteristic test, in particular to a method for measuring the relation between an adhesion coefficient and a slip ratio under a railway vehicle braking condition based on a rolling test bed and the test bed.
Background
At present, the main braking mode of the railway vehicle is realized through the adhesive force transmitted between wheels and steel rails, and the wheel rail adhesion is a key problem for restricting the operation safety and speed of a high-speed railway. When the adhesion force between the wheel and the rail is insufficient, the wheel is extremely easy to slide and even lock, so that the wheel tread and the rail are damaged by scratch, stripping and the like. The scratch of the wheels and the steel rails can become random disturbance in the running process of the train, hidden danger is brought to stability and stability in the running process of the train, the external disturbance can reduce riding comfort of the train, random vibration and noise are caused, in addition, the disturbance can increase impact load on wheel pairs, the service lives of components such as axles, rolling bearings and steel rails are reduced, and maintenance cost of the vehicles and the steel rails is improved. More serious, the insufficient adhesive force can bring about the reduction of braking force, so that the braking distance is forced to be increased, the rapid stopping cannot be realized, and even serious safety accidents such as the collision of trains and the like can occur when the train is flushed out of a platform.
The actual brake adhesion coefficient recommended for the railroads in China is basically obtained by actual vehicle line tests conducted in three railway lines of Jinan, shanghai and Harbin as early as 1988 to 1991, and comprises corresponding empirical formulas and curves under the conditions of dry and wet rail surfaces. However, the current test is performed under the low-speed condition of below 120km/h, so that the requirement of high-speed running of the motor train unit of the high-speed railway (the existing line is reformed by more than 200km/h and the newly built line is 250 km/h) in China cannot be met.
Because the line test is long in time consumption, high in cost and high in difficulty, the current research is concentrated in a laboratory scaling test, and the method has the advantages of being simple to realize and low in cost, but the nonlinearity in the wheel track relationship is present, so that the real adhesion characteristic of the train cannot be accurately reflected from the measuring result of the scaling test bed directly by using the similarity relationship. Meanwhile, although some adhesion property researches are performed based on a full-size test bench, the test bench is designed mainly for traction conditions and cannot fully reflect braking adhesion properties. Based on the comprehensive consideration, the invention provides a measuring method for the relation between the wheel track adhesion coefficient and the slip ratio under the braking working condition based on a full-size single bogie rolling test bed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a method for measuring the relation between the adhesion coefficient and the slip ratio under the braking of a railway vehicle and a test bed.
The aim of the invention can be achieved by the following technical scheme:
a method for measuring the relationship between an adhesion coefficient and a slip ratio of a railway vehicle under braking, comprising the steps of:
step 1: after the state of the test bed is checked, the rail wheels and the wheels in the test bed are pulled to target speed by using two traction motors;
step 2: after the traction is carried out until the target speed is stable, switching a motor control mode to a torque mode for stable speed control so as to maintain the target speed of the rail wheel in the braking process;
step 3: presetting an anti-slip exhaust slip rate limit value for a brake control device, and installing an exhaust valve on a pipeline leading to a brake cylinder to prevent brake shaft locking or tread scratch;
step 4: applying braking to a bogie in a test bed after measurement starts to acquire relevant data for calculating an adhesion coefficient and a slip rate in real time;
step 5: stopping data acquisition when the slip rate reaches a preset value, and relieving braking force when the slip rate does not reach the preset value, so that the data acquisition is stopped after the speeds of the rail wheels and the wheels in the test bed are synchronous;
step 6: repeating the measurement for multiple times under the same working condition to eliminate random errors, sequentially changing different rail wheel speeds, axle weights and rail surface conditions, and repeating the test;
step 7: calculating an adhesion coefficient based on the torque and the positive pressure between the wheels and the rail wheels, calculating a slip rate based on the rotational speeds of the rail wheels and the wheels, drawing an adhesion coefficient-slip rate relation curve, and capturing extreme points;
step 8: and generating a three-dimensional curved surface based on a plurality of groups of adhesion coefficient-slip ratio relation curves obtained by measurement at different speeds, and obtaining an adhesion coefficient extreme point connecting line serving as a final measurement result.
Further, the step 1 specifically includes: before the test, mechanical components, gas circuit connection, electric connection, working state of a measurement and control system and working state of a video monitoring system of the test bed are checked, and rail wheels and wheels in the test bed are pulled to target speeds in a motor rotating speed mode.
Further, the step 3 comprises the following sub-steps:
step 31: setting an ascending slope of brake cylinder pressure and an upper pressure limit in a brake control device;
step 32: an exhaust valve for improving the exhaust speed of the brake cylinder is arranged on a pipeline leading to the brake cylinder;
step 33: and setting an anti-slip exhaust slip rate limit value for immediately controlling an exhaust valve to exhaust compressed air of a brake cylinder when the brake control device detects that the slip rate reaches a preset value in the measurement process, and relieving the brake pressure at the same time so as to prevent the brake shaft from locking in the measurement process.
Further, the slip ratio in the step 4 is calculated by the following formula:
in the formula, xi represents the slip ratio, v 1 Representing the linear speed of the rail wheel, and calculating the actual measured rotating speed of the rail wheel and the rolling circle radius of the rail wheel to obtain v 2 The linear speed of the wheel is represented, and the linear speed is calculated by the actual measured rotating speed of the wheel and the rolling circle radius of the wheel.
Further, the adhesion coefficient in the step 4 is a ratio of adhesion force between wheel tracks to vertical positive pressure, and the corresponding description formula is:
wherein μ represents an adhesion coefficient, F represents an adhesion force, and N represents a vertical positive pressure.
Further, the calculation formula of the adhesion force is as follows:
wherein T is 1 、T 2 Indicating the measured value of the torquer on two sides of the rail wheel of the brake shaft, I R For the moment of inertia of a single rail wheel,representing the derivative of the linear velocity of the rail wheel and r representing the radius of the rail wheel rolling circle.
Further, the speed test section in the step 6 is 10km/h to 300km/h, the interval is 10km/h, the axle weight test section in the step 6 is 11t to 15t, and the interval is 1t.
The invention also provides a test bed for the method for measuring the relation between the adhesion coefficient and the slip ratio under the braking of the railway vehicle, which comprises a false vehicle body, a false vehicle body counterweight arranged on the false vehicle body, a false vehicle body supporting device connected between the false vehicle body and a wall surface, a bogie connected with the false vehicle body and a track wheel used for simulating a track and arranged on the ground, wherein the bottom of the bogie is provided with a wheel pair contacted with the track wheel.
Further, the number of the wheel pairs is 2, 2 wheel pairs are symmetrically arranged at the bottom of the bogie, the fake vehicle body supporting device is a supporting rod, and the shaft ends of the wheel pairs are connected with a speed sensor for measuring the rotation speed of the wheels.
Further, the number of the track wheels is 2, 2 pairs of the track wheels are connected with each other through a synchronous gear box for realizing synchronous rotation, flywheel groups serving as inertial loads and traction motors are further connected to the track wheels, torque meters for measuring torque are arranged between the flywheel groups and the track wheels and between the track wheels and the traction motors, shaft ends of the traction motors are connected with encoders for measuring motor rotation speeds, and the torque meters, the speed sensors and the encoders are further connected with acquisition equipment for acquiring and processing signals.
Compared with the prior art, the invention has the following advantages:
(1) The measuring method of the invention obviously reduces the motor power requirement of the adhesion characteristic test based on the rolling test bed mode on the rolling test bed.
(2) The test bed can measure the wheel track adhesion coefficient under the large slip rate of the braking working condition, and the test process completely simulates the principle for the braking action of a real vehicle.
(3) According to the invention, the test risk is reduced by improving the anti-skid exhaust structure of the brake system.
Drawings
FIG. 1 is a schematic diagram of a test bed on which the method of the present invention is based;
FIG. 2 is a flow chart showing the main steps of the method of the present invention;
FIG. 3 is a force diagram of a test stand according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
A test bed and a method for measuring the relation between an adhesion coefficient and a slip ratio under a railway vehicle braking working condition based on a rolling test bed, and the specific implementation modes are as follows:
the rolling test bed for measurement is shown in fig. 1, and comprises rail wheels simulating a rail, a bogie, a fake car body supporting device, a fake car body counterweight and the like, and also comprises equipment such as a rail wheel traction motor, a synchronous gear box connecting two rail wheel pairs, a flywheel set serving as inertial load, a torque meter, an encoder, a speed sensor, an acquisition system and the like, which are not shown in the figure.
The preparation of the measuring device comprises:
connecting two pairs of rail wheels of the test bed through a synchronous gear box, so that the two pairs of rail wheels can synchronously rotate;
the rotational inertia of the mechanical flywheel set provided by the test bed is configured to be maximum, and the equivalence between the inertia and the axle weight does not need to be considered, and the flywheel set is connected to the rail wheel.
The two motors for traction of the rail wheel are configured into a master-slave mode, and can carry out traction at the same time.
In the measuring process, only one shaft of the bogie is braked, but both motors output torque outwards at the moment.
The data acquisition equipment is used for acquiring physical quantities such as wheel speed, rail wheel speed, torque born by two sides of a rail wheel pair and the like; measuring positive pressure between the wheels and the rail wheels through the force measuring wheel set; and by controlling the power supply of the water pump, the tread of the rail wheel is sprayed with water to simulate the wet rail condition.
The purpose of the above steps is to reduce the motor power requirements for adhesion tests, and the measurement mode proposed by the present invention can be implemented using the traction motor generally required.
The measurement process is shown in fig. 2, and includes:
step S1: after the test device is subjected to state inspection, the rail wheel and the wheel are pulled to target speeds by using two traction motors, and the method specifically comprises the following steps:
step S11: checking and confirming the mechanical parts before the test;
step S12: checking and confirming the connection of the gas circuit before the test;
step S13: checking and confirming the electrical connection before the test;
step S14: confirming the working state of the measurement and control system before the test;
step S15: confirming the working state of the video monitoring system before the test;
step S16: the rail wheel and upper truck wheel set is towed to a target speed in a motor speed mode.
Step S2: after the traction is carried out until the target speed is stable, the motor control mode is switched to the torque mode for stable speed control so as to maintain the target speed of the rail wheel in the braking process all the time, and the method specifically comprises the following steps:
step S21: the steady speed mode is based on a direct torque control mode, accurate and rapid response can be realized, and the kinetic energy delta E lost in the motor calculation sampling period delta t is as follows:
step S22: the motor control system controls the motor to convert the electric energy into the kinetic energy lacking in the mechanical energy compensation system, namely, the output power of a motor shaft is P:
step S23: the motor outputs torque T with the same magnitude and opposite direction to the braking torque as follows:
step S24: the deceleration of the rail wheel in the measuring process can be reduced through the large mechanical inertia configuration of the flywheel group.
Step S3: the method for preventing the brake shaft from locking or preventing the tread from being scratched in certain working conditions comprises the following steps of:
step S31: the rising slope and the upper pressure limit of the pressure of the brake cylinder in the braking process are set in the braking control device, so that the pressure can reach the adhesive force limit quickly in a short time and the sliding can occur;
step S32: a large-aperture exhaust valve is arranged on a pipeline leading to the brake cylinder, so that the exhaust speed of the brake cylinder is improved;
step S33: setting a limit slip rate value of anti-slip exhaust, and immediately controlling an exhaust valve to exhaust compressed air of a downstream brake cylinder after the slip rate in the measurement process reaches a preset value by a brake control device, and relieving upstream brake pressure at the same time so as to prevent a brake shaft from locking in the measurement process;
step S4: in the measuring process, the track wheel applies traction torque through the motor, the bogie wheel generates compressed air with certain pressure through the brake control device and generates braking torque through the action of the foundation brake device, so that the wheel and the track wheel slide relatively.
Step S41: after the measurement is started, applying a brake to one shaft on the bogie, and collecting the shaft speed of the bogie, the speed of the rail wheel, the torque at two sides of the rail wheel, the positive pressure between the wheels and the rail wheel and the like in real time to calculate the adhesion coefficient and the slip ratio;
step S42: according to a slip ratio calculation formula:
in the formula, xi represents the slip ratio, v 1 Representing the linear speed of the rail wheel, and calculating the actual measured rotating speed of the rail wheel and the rolling circle radius of the rail wheel to obtain v 2 The linear speed of the wheel is represented, and the linear speed is calculated by the actual measured rotating speed of the wheel and the rolling circle radius of the wheel.
In the bench test, a rail wheel with a rail head shape is adopted to simulate an actual line, and the calculation of the slip rate correspondingly comprises two parts, namely rail wheel speed acquisition and wheel speed acquisition;
step S43: the adhesion coefficient is generally defined as the ratio of the adhesion force F between the wheel tracks to the vertical positive pressure N:
step S44: according to FIG. 3, the calculation formula of the adhesion force F obtained by the stress analysis is:
wherein T is 1 、T 2 Indicating the measured value of the torquer on two sides of the rail wheel of the brake shaft, I R For the moment of inertia of a single rail wheel,representing the derivative of the linear velocity of the rail wheel and r representing the radius of the rail wheel rolling circle.
Step S45: the vertical positive pressure N between the wheel tracks is measured and collected by using a force measuring wheel pair.
Step S5: when the slip rate reaches a preset value, rapidly and once evacuating the pressure of the brake cylinder through an exhaust valve; if the slip rate does not reach the preset value but the pressure of the brake cylinder reaches the upper limit, the braking force is normally relieved; and if the emergency such as overload of the motor, abnormal equipment and the like occurs in the measuring process, automatically relieving braking force and stopping the motor.
Step S6: repeating the same working condition for a plurality of times to eliminate random errors;
step S7: selecting a speed interval of 10km/h-300km/h, performing a test at intervals of 10km/h, and repeating the steps S1-S6 until all the selected speed tests are completed;
step S8: selecting an axle weight interval 11t-15t, performing a test at intervals of 1t, and repeating the steps S1-S7 until all the axle weight tests are completed;
step S81: the axle weight is simulated by placing weight blocks of different masses in the body above the bogie.
Step S9: and (3) adjusting according to the preset rail surface conditions, and repeating the steps S1-S8 until the preset rail surface condition test is completed.
Step S10: in the measuring process, the adhesion coefficient is calculated based on the torque and the positive pressure between the wheels and the rail wheel, the slip rate is calculated based on the rotational speeds of the rail wheel and the wheels, and an adhesion coefficient-slip rate relation curve is automatically drawn and an extreme point is captured.
Step S11: and generating a three-dimensional curved surface based on a plurality of groups of adhesion coefficient-slip rate relation curves obtained by measurement at different speeds, and drawing out an adhesion coefficient extreme point connecting line.
In summary, the measurement method of the present invention can be summarized as follows:
the measuring method measures the change relation of the adhesion coefficient along with the slip rate at each speed, so that approximate steady speed control is applied to the rail wheel, and specifically, the deceleration of the rail wheel in the measuring process is reduced through the large inertia of the flywheel set and the torque compensation of the motor.
Before measurement starts, firstly, confirming that each function of a test bed is normal, and utilizing a traction motor to draw a rail wheel and a wheel to a certain target speed;
after the traction is carried out until the target speed is stable, switching a motor control mode to a torque control mode, and applying speed compensation control to ensure that the track wheel always maintains the target speed in the braking process;
presetting a slip rate limit value for a brake control device, installing a large-aperture exhaust valve on a pipeline leading to a brake cylinder, and immediately controlling the exhaust valve to exhaust compressed air of a downstream brake cylinder when the brake control device detects that the slip rate reaches the preset value in the measurement process, and relieving upstream brake pressure at the same time so as to prevent brake shaft locking in the measurement process;
after the measurement is started, applying a brake to one shaft on the bogie, and collecting the shaft speed of the bogie, the speed of the rail wheel, the torque on two sides of the rail wheel set, the positive pressure between the wheels and the rail wheel and the like in real time to calculate the adhesion coefficient and the slip ratio;
when the slip rate reaches a preset value, rapidly and once evacuating the pressure of the brake cylinder through an exhaust valve; if the slip rate does not reach the preset value but the pressure of the brake cylinder reaches the upper limit, the braking force is normally relieved; and if the emergency such as overload of the motor, abnormal equipment and the like occurs in the measuring process, automatically relieving braking force and stopping the motor.
And stopping data acquisition after braking is released and the speeds of the rail wheel and the wheel are synchronous.
Repeating the same working condition for a plurality of times to eliminate random errors.
The rail wheel speed, axle weight, and rail surface conditions were changed in sequence and the above measurements were repeated.
In the measuring process, the adhesion coefficient is calculated based on the torque and the positive pressure between the wheels and the rail wheel, the slip rate is calculated based on the rotational speeds of the rail wheel and the wheels, and an adhesion coefficient-slip rate relation curve is automatically drawn and an extreme point is captured.
And generating a three-dimensional curved surface based on a plurality of groups of adhesion coefficient-slip rate relation curves obtained by measurement at different speeds, and drawing out an adhesion coefficient extreme point connecting line.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. A method for measuring the relationship between an adhesion coefficient and a slip ratio of a railway vehicle under braking, comprising the steps of:
step 1: after the state of the test bed is checked, the rail wheels and the wheels in the test bed are pulled to target speed by using two traction motors;
step 2: after the traction is carried out until the target speed is stable, switching a motor control mode to a torque mode for stable speed control so as to maintain the target speed of the rail wheel in the braking process;
step 3: presetting an anti-slip exhaust slip rate limit value for a brake control device, and installing an exhaust valve on a pipeline leading to a brake cylinder to prevent brake shaft locking or tread scratch;
step 4: applying braking to a bogie in a test bed after measurement starts to acquire relevant data for calculating an adhesion coefficient and a slip rate in real time;
step 5: stopping data acquisition when the slip rate reaches a preset value, and relieving braking force when the slip rate does not reach the preset value, so that the data acquisition is stopped after the speeds of the rail wheels and the wheels in the test bed are synchronous;
step 6: repeating the measurement for multiple times under the same working condition to eliminate random errors, sequentially changing different rail wheel speeds, axle weights and rail surface conditions, and repeating the test;
step 7: calculating an adhesion coefficient based on the torque and the positive pressure between the wheels and the rail wheels, calculating a slip rate based on the rotational speeds of the rail wheels and the wheels, drawing an adhesion coefficient-slip rate relation curve, and capturing extreme points;
step 8: based on a plurality of groups of adhesion coefficient-slip ratio relation curves measured at different speeds, generating a three-dimensional curved surface and obtaining an adhesion coefficient extreme point connecting line as a final measurement result,
in the step 4, the adhesion coefficient is the ratio of the adhesion force between the wheel tracks to the vertical positive pressure, and the corresponding description formula is as follows:
wherein mu represents an adhesion coefficient, F represents an adhesion force, N represents a vertical positive pressure,
the adhesive force is calculated according to the following formula:
wherein T is 1 、T 2 Indicating the measured value of the torquer on two sides of the rail wheel of the brake shaft, I R For the moment of inertia of a single rail wheel,representing the derivative of the linear velocity of the rail wheel and r representing the radius of the rail wheel rolling circle.
2. The method for measuring the relationship between the adhesion coefficient and the slip ratio under the braking of the railway vehicle according to claim 1, wherein the step 1 specifically comprises: before the test, mechanical components, gas circuit connection, electric connection, working state of a measurement and control system and working state of a video monitoring system of the test bed are checked, and rail wheels and wheels in the test bed are pulled to target speeds in a motor rotating speed mode.
3. The method for measuring the relationship between the adhesion coefficient and the slip ratio under the braking of the railway vehicle according to claim 1, wherein the step 3 comprises the following sub-steps:
step 31: setting an ascending slope of brake cylinder pressure and an upper pressure limit in a brake control device;
step 32: an exhaust valve for improving the exhaust speed of the brake cylinder is arranged on a pipeline leading to the brake cylinder;
step 33: and setting an anti-slip exhaust slip rate limit value for immediately controlling an exhaust valve to exhaust compressed air of a brake cylinder when the brake control device detects that the slip rate reaches a preset value in the measurement process, and relieving the brake pressure at the same time so as to prevent the brake shaft from locking in the measurement process.
4. The method for measuring the relation between the adhesion coefficient and the slip ratio under the braking of the railway vehicle according to claim 1, wherein the slip ratio in the step 4 is calculated by the following formula:
in the formula, xi represents the slip ratio, v 1 Representing the linear speed of the rail wheel, and calculating the actual measured rotating speed of the rail wheel and the rolling circle radius of the rail wheel to obtain v 2 The linear speed of the wheel is represented, and the linear speed is calculated by the actual measured rotating speed of the wheel and the rolling circle radius of the wheel.
5. The method for measuring the relation between the adhesion coefficient and the slip ratio under the braking of the railway vehicle according to claim 1, wherein the speed in the step 6 is tested in a range of 10km/h to 300km/h at a distance of 10km/h, and the axle weight in the step 6 is tested in a range of 11t to 15t at a distance of 1t.
6. A test stand for the method for measuring the relationship between the adhesion coefficient and the slip ratio under the brake of a railway vehicle according to any one of claims 1 to 5, characterized in that the test stand comprises a dummy car body, a dummy car body counterweight provided on the dummy car body, a dummy car body supporting device connected between the dummy car body and a wall surface, a bogie connected with the dummy car body, and a rail wheel for simulating a rail and provided on the ground, wherein a wheel pair in contact with the rail wheel is provided at the bottom of the bogie.
7. The test stand for a method for measuring a relationship between an adhesion coefficient and a slip ratio under braking of a railway vehicle according to claim 6, wherein the number of the wheel pairs is 2, 2 wheel pairs are symmetrically arranged at the bottom of the bogie, the dummy car body supporting means is a supporting rod, and shaft ends of the wheel pairs are connected with a speed sensor for measuring the rotation speed of the wheels.
8. The test bed for the relation between the adhesion coefficient and the slip ratio under the braking of the railway vehicle according to claim 7, wherein the number of the rail wheels is 2 pairs, the 2 pairs of the rail wheels are connected with each other through a synchronous gear box for realizing synchronous rotation, the rail wheels are further connected with a flywheel group serving as an inertial load and a traction motor, torque meters for measuring torque are arranged between the flywheel group and the rail wheels and between the rail wheels and the traction motor, the shaft ends of the traction motor are connected with an encoder for measuring the rotation speed of the motor, and the torque meters, the speed sensor and the encoder are further connected with acquisition equipment for acquiring and processing signals.
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| CN112104284A (en) * | 2020-09-18 | 2020-12-18 | 成都运达科技股份有限公司 | Urban rail train adhesion control method and system based on rack control mode |
| CN112731898B (en) * | 2021-03-30 | 2021-06-04 | 西南交通大学 | Indoor full-size test bed for evaluating active suspension control performance of bogie |
| CN113834674B (en) * | 2021-07-28 | 2024-04-19 | 武汉理工大学 | Device and method for measuring wheel track creep rate based on changing wheel diameter |
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