CN110758475B - High-speed magnetic suspension train positioning and speed measuring system and method based on array fiber bragg grating sensing measurement - Google Patents
High-speed magnetic suspension train positioning and speed measuring system and method based on array fiber bragg grating sensing measurement Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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- G—PHYSICS
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
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Abstract
The invention provides a high-speed maglev train positioning and speed measuring system and method based on array fiber bragg grating sensing measurement. The invention utilizes the combination of at least 5 low-reflectivity optical fiber strain sensitive array grating sensor shunts arranged along the train track and magnetic beads to position and measure the speed of the train, thereby realizing the online real-time monitoring of the running safety condition of the magnetic suspension train.
Description
Technical Field
The invention relates to the technical field of optical fiber sensing, in particular to a high-speed magnetic suspension train positioning and speed measuring system and method based on array optical fiber grating sensing measurement.
Background
The rail transit is a national economy aorta, a key infrastructure and a great civil engineering in China, is one of the backbone and main traffic modes of a comprehensive traffic transportation system, and has a very important position and function in the development of the national economy and society. With the rapid development of high-speed railways and urban subway construction and the high-speed and intensive rail transit operation, higher requirements are put forward on train operation control and rail structure health conditions, safety problems become main challenges of rail transit construction and development, and once an accident occurs, huge life and property loss of people and extremely bad national civilian influence are caused.
The positioning and speed measuring system of the high-speed magnetic suspension train plays a key role in the rail traffic safety. For a common wheel-rail railway, the position and the speed of a train are mainly determined by a track circuit and photoelectric encoders arranged on wheels, and because the magnetic suspension train has no wheels and the train and the track are not in contact during operation, the speed measurement and the positioning of the magnetic suspension train cannot directly refer to a traditional railway test method. At present, electric sensors are adopted in China to realize speed measurement and positioning of trains, but the traditional electric sensors have poor reliability, low precision and poor anti-interference capability. Particularly, in the development of the electrified high-speed railway today, misjudgment often occurs in the face of strong electromagnetic interference, severe environment and abnormal weather.
At present, the speed measurement and relative positioning methods of medium and low magnetic suspension trains at home and abroad comprise 'sleeper counting', 'cross loop' and 'radar speed measurement'. The speed measurement and positioning by applying the cross induction loop and the sleeper counting can only realize the relative positioning of the train, and the error of the relative positioning can be accumulated along with the time. The radar sensor is greatly influenced by the ambient weather and terrain factors on the use condition, so the radar sensor is often not used as a main speed measuring means.
The optical fiber sensing is one of the technologies which are developed rapidly in recent years, senses and transmits related information by using optical fibers, has the advantages of electromagnetic interference resistance, long transmission distance, easiness in networking and the like, and is incomparable with other sensing technologies at present. Especially, the Fiber Bragg Grating (FBG) technology has the outstanding advantages of high measurement accuracy, fast response, accurate positioning and the like, and has been widely researched and applied in the field of intelligent rail transit safety monitoring in the last decade.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the system and the method for positioning and measuring the speed of the high-speed magnetic suspension train based on the array fiber bragg grating sensing measurement are reasonable in structure and low in environmental influence degree.
The technical scheme adopted by the invention for solving the technical problems is as follows: a high-speed magnetic suspension train positioning and speed measuring system based on array fiber grating sensing measurement is characterized in that: the system comprises a pulse light source, an optical splitter, at least 5 low-reflectivity optical fiber strain sensitive array grating sensor shunts arranged along a train track, a signal demodulation unit and a data processor; each low-reflectivity optical fiber strain sensitive array grating sensor branch comprises a low-reflectivity optical fiber, optical fiber grating strain sensors are arranged on the optical fiber at intervals of a certain distance, and a magnetic bead is arranged at each optical fiber grating strain sensor; the low reflectivity is 0.001% -1%;
light emitted by the pulse light source reaches the low-reflectivity optical fiber strain sensitive array grating sensor after passing through the optical splitter for splitting, light returned by each low-reflectivity optical fiber strain sensitive array grating sensor is demodulated by the signal demodulation unit in a wavelength division/time division hybrid multiplexing mode, and then a data processor analyzes and identifies a strain signal of the optical fiber grating strain sensor; the magnetic beads move to the position of the fiber bragg grating due to the strong magnetic fields generated by the suspension electromagnets arranged on the bogies on two sides of the train and the magnets laid on the line guide rails, so that the stress of the fiber bragg grating causes the central wavelength of a reflection spectrum signal of the fiber bragg grating to drift, the physical quantity causing change is measured by detecting the drift quantity of the wavelength of the fiber bragg grating, the real-time running position of the train is further obtained, the positioning of the maglev train is realized, and meanwhile, the real-time running speed of the train is obtained by calculating the running time obtained by detecting the time pulse number in a certain positioning distance.
According to the system, the at least 5 low-reflectivity optical fiber strain sensitive array grating sensor branches are packaged into cables by adopting a ribbon cabling process, and the system specifically comprises the following steps:
at least 5 wire grooves are formed in the metal strip in parallel along the length direction, slotted holes are formed in each wire groove at equal intervals along the length direction, and magnetic beads are arranged in each slotted hole; an optical fiber is fixed in each wire groove, Bragg gratings are engraved on the optical fiber, and each Bragg grating forms the optical fiber grating strain sensor and is arranged on the magnetic beads in the wire groove;
after the optical fibers are fixed by the metal strips, the optical fibers are packaged into the cable along the length direction.
According to the system, the thickness of the metal strip is 2-3mm, and the width of the metal strip is 10-25 mm; the depth of the wire groove is 0.4-0.6mm, and the width of the wire groove is 0.3 mm; the distance between the wire grooves is 1.5-3 mm.
According to the system, the diameter of the slotted hole is 1-2mm, and the slotted holes in different wire grooves are arranged in a staggered manner; the magnetic beads are cylindrical and have the thickness of 1.5-2.5 mm.
According to the system, the packaged cable is fixed in the inner horizontal plane of the U-shaped metal base through the metal buckle, the U-shaped metal base is installed on the fixing surface of the long stator, and the length of the U-shaped metal base is equal to that of the long stator.
According to the system, the packaged cable is laid in the middle of the upper surface of the track beam, the permanent magnet is installed at the bottom of the front end of the train, and the fiber bragg grating strain sensor generates strain under the magnetic action of the permanent magnet.
According to the system, the branches of the low-reflectivity optical fiber strain sensitive array grating sensor are 5, slotted holes are formed in each slot at equal intervals of 5cm along the length direction, the slotted hole in the second slot is moved backwards by 1cm compared with the slotted hole in the first slot, the slotted hole in the third slot is moved backwards by 1cm compared with the slotted hole in the second slot, and the like, so that the overall resolution of the branches of the 5 low-reflectivity optical fiber strain sensitive array grating sensors is 1 cm.
The positioning and speed measuring method realized by the positioning and speed measuring system of the high-speed magnetic suspension train is characterized in that:
the strong magnetic field generated by suspension electromagnets arranged on bogies at two sides of the train and magnets laid on the line guide rails enables magnetic beads to move to the position of the fiber bragg grating, so that the stress of the fiber bragg grating enables the central wavelength of a reflection spectrum signal of the fiber bragg grating strain sensor to drift;
measuring the physical quantity causing change by detecting the drift quantity of the fiber Bragg grating wavelength so as to obtain the real-time running position of the train and realize the positioning of the magnetic suspension train;
meanwhile, the real-time running speed of the train is obtained by calculating the running time obtained by detecting the time pulse number within a certain positioning distance.
The invention has the beneficial effects that: the combination of at least 5 low-reflectivity optical fiber strain sensitive array grating sensor branches arranged along a train track and magnetic beads is utilized, and the magnetic beads move to the position of the optical fiber grating by virtue of a strong magnetic field generated by suspension electromagnets arranged on bogies at two sides of the train and magnets laid on a line guide rail, so that the stress of the optical fiber grating causes the central wavelength of a reflection spectrum signal of the optical fiber grating strain sensor to drift, and thus, the train is positioned and tested, and the online real-time monitoring on the running safety condition of the magnetic suspension train is realized.
Drawings
Fig. 1 is a schematic structural diagram according to an embodiment of the present invention.
Fig. 2 is a schematic view of a package structure of the fiber grating strain sensor.
In the figure: 1. a pulsed light source; 2. an optical splitter; 3. the low-reflectivity optical fiber strain sensitive array grating sensor is shunted; 4. a signal demodulation unit; 5. a data processor; 6. a metal strip; 7. a wire slot; 8. magnetic beads; 9. an adhesive; 10. a Bragg grating.
Detailed Description
The invention is further illustrated by the following specific examples and figures.
The invention provides a high-speed maglev train positioning and speed measuring system based on array fiber grating sensing measurement, which comprises a pulse light source 1, an optical splitter 2, at least 5 low-reflectivity fiber strain sensitive array grating sensor branches 3 arranged along a train track, a signal demodulating unit 4 and a data processor 5, wherein the pulse light source 1 is connected with the optical splitter 2; each low-reflectivity optical fiber strain sensitive array grating sensor branch 3 comprises a low-reflectivity optical fiber, optical fiber grating strain sensors are arranged on the optical fiber at intervals of a certain distance, and a magnetic bead 8 is arranged at each optical fiber grating strain sensor; the low reflectivity is 0.001% -1%. Light emitted by the pulse light source 1 passes through the optical splitter 2 and then reaches the low-reflectivity optical fiber strain sensitive array grating sensor branches 3, light returned by each low-reflectivity optical fiber strain sensitive array grating sensor branch 3 is demodulated in a wavelength division/time division hybrid multiplexing mode by the signal demodulation unit 4, and then a strain signal of the optical fiber grating strain sensor is analyzed and identified by the data processor 5; due to the fact that the magnetic beads 8 move towards the fiber grating strain sensor due to the strong magnetic fields generated by the suspension electromagnets arranged on the bogies on the two sides of the train and the magnets laid on the line guide rails, the Bragg grating 10 is stressed to enable the central wavelength of a reflection spectrum signal of the fiber grating strain sensor to drift, the physical quantity which changes is caused by measurement is measured by detecting the drift quantity of the wavelength of the Bragg grating 10, the real-time running position of the train is further obtained, positioning of the magnetic suspension train is achieved, and meanwhile the real-time running speed of the train is obtained by detecting the running time which is obtained by detecting the time pulse number within a certain positioning distance.
The at least 5 low-reflectivity optical fiber strain sensitive array grating sensor branches are packaged into cables by adopting a ribbon cabling process, and the method specifically comprises the following steps: at least 5 wire grooves 7 are formed in the metal strip 6 in parallel along the length direction, slotted holes are formed in each wire groove 7 at equal intervals along the length direction, and magnetic beads 8 are arranged in each slotted hole; an optical fiber is fixed in each trunking 7, Bragg gratings 10 are carved on the optical fiber, and each Bragg grating 10 forms the optical fiber grating strain sensor and is arranged on the magnetic beads 8 in the trunking hole; after the optical fibers are fixed on the metal strip 6, the optical fibers are packaged into a cable by adopting plastic along the length direction. Wherein the Bragg grating 10 is positioned in the center of the slotted hole, and two sides are equidistantly fixed in the slot 7 through the adhesive 9.
In the embodiment, the thickness of the metal strip is 2-3mm, and the width of the metal strip is 10-25 mm; the depth of the wire groove is 0.4-0.6mm, and the width of the wire groove is 0.3 mm; the distance between the wire grooves is 1.5-3 mm. The diameter of the slotted hole is 1-2mm, and the slotted holes in different wire grooves are arranged in a staggered manner; the magnetic beads are cylindrical and have the thickness of 1.5-2.5 mm.
Specifically, in this embodiment, the low-reflectivity optical fiber strain sensitive array grating sensor branch 3 is continuously written on line by using a drawing tower, and bragg gratings with the same wavelength are written in the same optical fiber at intervals of 1m, and the distance is 10 km. In 1m interval, writing 20 Bragg gratings with different wavelengths according to the distance of 5 cm; the same 5 optical fibers were arranged in parallel at an interval of 1cm adjacent to each other, and a resolution of 1cm at a distance of 10km was achieved. The method adopts a wavelength division/time division hybrid multiplexing mode, utilizes OTDR to position the fiber Bragg grating with the same wavelength, and adopts a multi-wavelength demodulation method to position the fiber Bragg grating with different wavelengths, so long as the position of the grating during installation is accurate, and no positioning deviation exists.
The packaged cable is fixed in the inner horizontal plane of the U-shaped metal base through the metal buckle, the U-shaped metal base is installed on the fixing surface of the long stator, and the length of the U-shaped metal base is equal to that of the long stator, namely, 1032 mm. In this embodiment, the metal strip 6 and the U-shaped metal base are both made of stainless steel. Or the packaged cable is laid in the middle of the upper surface of the track beam, the permanent magnet is installed at the bottom of the front end of the train, and the fiber bragg grating strain sensor generates strain through the magnetic force effect of the permanent magnet.
In this embodiment, the branches of the low-reflectivity optical fiber strain sensitive array grating sensor are 5, slots are formed in each slot at equal intervals of 5cm along the length direction, the slot on the second slot is moved backward by 1cm compared with the slot on the first slot, the slot on the third slot is moved backward by 1cm compared with the slot on the second slot, and so on, so that the overall resolution of the branches of the 5 low-reflectivity optical fiber strain sensitive array grating sensors is 1 cm.
When the magnetic suspension train passes through the fiber grating strain sensor, the strong magnetic field generated by the suspension electromagnets arranged on the bogies at the two sides of the train and the magnets laid on the line guide rails enables the magnetic beads to move towards the fiber grating strain sensor, so that the Bragg grating is stressed to enable the central wavelength of a reflection spectrum signal of the fiber grating strain sensor to drift; measuring the physical quantity causing change by detecting the drift quantity of the Bragg grating wavelength so as to obtain the real-time running position of the train and realize the positioning of the magnetic suspension train; meanwhile, the real-time running speed of the train is obtained by calculating the running time obtained by detecting the time pulse number within a certain positioning distance. The system is applied to the track of the high-speed magnetic suspension train, the grating signal changes instantly, and the cross sensitive influence of temperature and stress can be completely overcome compared with the long-time environmental temperature change.
The signal demodulation unit 4 is based on wavelength division multiplexing and time division multiplexing technology demodulation algorithm, and when the central wavelength is lambda1After the pulse light enters the fiber grating strain sensor, the central wavelength is lambda1The reflection spectrum signals return to channels 1-5 of the signal demodulation unit 3 in sequence, and the reflection spectrum signals of the same channel are distinguished by different time sequences. In the next cycle from the centerWavelength of λ2The pulse light enters the optical fiber sensor with the central wavelength of lambda2The reflected spectrum signal returns to the 1-5 channels of the signal demodulation unit 4, and so on, and the central wavelength of the cyclic transmission is lambda1 -λ20The signal demodulation unit 4 receives the reflection spectrum signal of each fiber bragg grating in turn. For a single channel, storing the collected signal intensity value into a two-dimensional array, enabling wavelength information to correspond to the signal intensity value one by one, then searching peaks for discrete data, determining the central wavelength of a reflection spectrum signal, sending the demodulated data to a data processor 5, analyzing the data by application software, judging the position of the position as the arrival of a train when the wavelength changes and exceeds a set threshold value, calculating the running time obtained by detecting the number of time pulses within a certain positioning distance to obtain the real-time running speed of the train, and displaying the real-time interface by the data processor 5. In this embodiment, the data processor 5 is implemented by using a computer server cluster, and the number and the position of the computer server cluster are determined according to the total length of the line, so as to implement positioning and measurement of the whole section of the railway.
Due to the influence of noise mixed in the external environment and the signal acquisition process, the peak point of the reflection spectrum is shifted, and the peak searching precision is influenced to a great extent, so that the acquired discrete data is filtered and then subjected to peak searching.
The specific peak searching algorithm flow is as follows:
filtering the acquired digital signals to complete a pretreatment part; then, through the conversion of a state machine, segmenting the denoised waveform data by adjusting a threshold value, and roughly estimating the position range of a peak value; judging the waveform number in the range, and if the waveform number is a symmetrical waveform, directly taking the peak value as the peak value after Gaussian fitting; otherwise, carrying out asymmetric Gaussian fitting, and carrying out compensation correction on the peak value obtained by Gaussian fitting.
The invention has reasonable structure, and the optical fiber sensor has the advantages of high sensitivity, intrinsic safety, strong anti-electromagnetic interference capability and distributed measurement; the low-reflectivity optical fiber strain sensitive array grating sensor is arranged on one side of the ground wire of the long stator, which is opposite to the slotted hole, and can position and measure the speed of the magnetic suspension train through demodulation and analysis of the reflection spectrum signal of the optical fiber Bragg grating, thereby realizing online real-time monitoring of the running safety condition of the magnetic suspension train.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (8)
1. A high-speed magnetic suspension train positioning and speed measuring system based on array fiber grating sensing measurement is characterized in that: the system comprises a pulse light source, an optical splitter, at least 5 low-reflectivity optical fiber strain sensitive array grating sensor shunts arranged along a train track, a signal demodulation unit and a data processor; each low-reflectivity optical fiber strain sensitive array grating sensor branch comprises a low-reflectivity optical fiber, optical fiber grating strain sensors are arranged on the optical fiber at intervals of a certain distance, and a magnetic bead is arranged at each optical fiber grating strain sensor; the low reflectivity is 0.001% -1%;
light emitted by the pulse light source reaches the low-reflectivity optical fiber strain sensitive array grating sensor after passing through the optical splitter for splitting, light returned by each low-reflectivity optical fiber strain sensitive array grating sensor is demodulated by the signal demodulation unit in a wavelength division/time division hybrid multiplexing mode, and then a data processor analyzes and identifies a strain signal of the optical fiber grating strain sensor; the magnetic beads move towards the fiber grating strain sensor due to the strong magnetic fields generated by the suspension electromagnets arranged on the bogies on two sides of the train and the magnets laid on the line guide rails, so that the Bragg grating is stressed to enable the central wavelength of a reflection spectrum signal of the fiber grating strain sensor to drift, the physical quantity causing change is measured by detecting the drift quantity of the Bragg grating wavelength, the real-time running position of the train is further obtained, the positioning of the magnetic suspension train is realized, and the real-time running speed of the train is obtained by calculating the running time obtained by detecting the time pulse number in a certain positioning distance.
2. The system for positioning and measuring the speed of a high-speed magnetic levitation train as recited in claim 1, wherein: the at least 5 low-reflectivity optical fiber strain sensitive array grating sensor branches are packaged into cables by adopting a ribbon cabling process, and the method specifically comprises the following steps:
at least 5 wire grooves are formed in the metal strip in parallel along the length direction, slotted holes are formed in each wire groove at equal intervals along the length direction, and magnetic beads are arranged in each slotted hole; an optical fiber is fixed in each wire groove, Bragg gratings are engraved on the optical fiber, and each Bragg grating forms the optical fiber grating strain sensor and is arranged on the magnetic beads in the wire groove;
after the optical fibers are fixed by the metal strips, the optical fibers are packaged into the cable along the length direction.
3. The system for positioning and measuring the speed of a high-speed magnetic levitation train as recited in claim 2, wherein: the thickness of the metal strip is 2-3mm, and the width of the metal strip is 10-25 mm; the depth of the wire groove is 0.4-0.6mm, and the width of the wire groove is 0.3 mm; the distance between the wire grooves is 1.5-3 mm.
4. The system for positioning and measuring the speed of a high-speed magnetic levitation train as recited in claim 2 or 3, wherein: the diameter of the slotted hole is 1-2mm, and the slotted holes in different wire grooves are arranged in a staggered manner; the magnetic beads are cylindrical and have the thickness of 1.5-2.5 mm.
5. The system for positioning and measuring the speed of a high-speed magnetic levitation train as recited in claim 2, wherein: the packaged cable is fixed in the inner horizontal plane of the U-shaped metal base through the metal buckle, the U-shaped metal base is installed on the fixing surface of the long stator, and the length of the U-shaped metal base is equal to that of the long stator.
6. The system for positioning and measuring the speed of a high-speed magnetic levitation train as recited in claim 2, wherein: the packaged cable is laid in the middle of the upper surface of the track beam, the permanent magnet is installed at the bottom of the front end of the train, and the fiber bragg grating strain sensor generates strain under the magnetic action of the permanent magnet.
7. The system for positioning and measuring the speed of a high-speed magnetic levitation train as recited in claim 2, wherein: the low-reflectivity optical fiber strain sensitive array grating sensor is divided into 5 branches, slotted holes are formed in each slot at intervals of 5cm along the length direction, the slotted hole in the second slot is moved backwards by 1cm compared with the slotted hole in the first slot, the slotted hole in the third slot is moved backwards by 1cm compared with the slotted hole in the second slot, and the like, so that the overall resolution of the 5 branches of the low-reflectivity optical fiber strain sensitive array grating sensor is 1 cm.
8. The positioning and speed measuring method realized by the positioning and speed measuring system of the high-speed magnetic suspension train as claimed in any one of claims 1 to 7, is characterized in that:
the strong magnetic field generated by the suspension electromagnets arranged on the bogies at two sides of the train and the magnets laid on the line guide rails enables the magnetic beads to move towards the fiber grating strain sensor, so that the Bragg grating is stressed to enable the central wavelength of a reflection spectrum signal of the fiber grating strain sensor to drift;
measuring the physical quantity causing change by detecting the drift quantity of the Bragg grating wavelength so as to obtain the real-time running position of the train and realize the positioning of the magnetic suspension train;
meanwhile, the real-time running speed of the train is obtained by calculating the running time obtained by detecting the time pulse number within a certain positioning distance.
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| CN111751570B (en) * | 2020-06-18 | 2023-10-27 | 武汉理工大学 | Array fiber bragg grating sensing system and method for speed measurement and positioning of magnetic levitation train |
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| CN115195820A (en) * | 2022-08-30 | 2022-10-18 | 中车青岛四方机车车辆股份有限公司 | Train safety device and train |
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