CN111856064A - Intelligent speed sensing device - Google Patents
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- CN111856064A CN111856064A CN202010744943.0A CN202010744943A CN111856064A CN 111856064 A CN111856064 A CN 111856064A CN 202010744943 A CN202010744943 A CN 202010744943A CN 111856064 A CN111856064 A CN 111856064A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
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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 vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
Abstract
The invention discloses an intelligent speed sensing device, which comprises a speed measuring fluted disc, a speed sensing element group, a standard signal generator, a signal conditioning circuit, a multi-channel signal converter, a microprocessor and a communication module, wherein the speed measuring fluted disc is connected with the speed sensing element group; the speed measuring fluted disc and the speed sensing element set are matched and used for simultaneously collecting the motion state signals of the speed measuring fluted disc through the speed sensing element set; after the rotating speed signal of the speed measuring fluted disc is collected, the rotating speed signal is processed in time through local signal processing equipment arranged at the position of the collected signal, the problem that the original analog signal is easily interfered by signals when transmitted in a long distance and a far end is avoided, the processed digital signal with higher reliability is adopted for long-distance transmission, and the output of the rotating speed value of the wheel axle, the vehicle speed value and the idle sliding state of the wheel axle with high localization precision and low time delay is provided. Meanwhile, the sensor group is adopted to acquire signals, the defect that a single sensor cannot sense the state of the wheel axle more is avoided, the resources of various types of sensors are increased, and information complementation in space or time is realized.
Description
Technical Field
The invention relates to the technical field of intelligent sensing devices, in particular to an intelligent speed sensing device.
Background
The speed control is the core of a high-speed train safe operation control system, the transportation efficiency is improved, the running safety of the rail transit vehicle is guaranteed, the system is comfortable, efficient, on-line and energy-saving, wherein the vehicle-mounted speed measurement sensor is a submodule which is the most basic and critical for the speed control, the speed information provided by the vehicle-mounted speed measurement sensor is a decisive parameter for guaranteeing the accurate control of the rail transit vehicle, and the vehicle-mounted speed measurement sensor has extremely high requirements on the speed measurement precision and the safety reliability regardless of a vehicle-mounted Central Control Unit (CCU), a Traction Control Unit (TCU), a Brake Control Unit (BCU), an automatic protection system (ATP) and the like.
At present, sensors applied to speed measurement of rail transit vehicles mainly comprise Hall revolution speed sensors, photoelectric revolution speed sensors and magnetoelectric revolution speed sensors. No matter which type of sensor is adopted, the main form of the sensor is that a sensing element is utilized to generate a pulse signal with the frequency in direct proportion to the rotating speed of a wheel axle, the analog signal is directly transmitted to a train control system in a long distance, and the speed value is obtained after secondary processing by the train control system.
As shown in fig. 1, the hall-type tachometer pulse sensor has the following working principle: the pulse speed sensor is opposite to the gear of the speed measuring fluted disc, the speed measuring fluted disc is connected with the wheel shaft, and when the gear approaches the magnet, the magnetic force line is concentrated at the gear tooth part and changes along with the rotation of the gear. The moving change of the magnetic force line is converted into a pulse signal to be output after being detected by a magnetic resistance element and processed by a circuit, the rotating angular speed of a vehicle wheel shaft is converted into the counting frequency of the electric pulse signal, the vehicle speed can be calculated through the direct proportion relation and the wheel diameter parameter, the precision is higher under the condition that no idle sliding occurs, but if the signal output of a speed sensor is abnormal due to electromagnetic interference or other reasons in the running process of the rail transit vehicle, the safe running of the rail transit vehicle can be threatened.
In addition, the traditional speed sensor only has the functions of sensing the environment and outputting analog signals, the measurement precision and the anti-interference capability are limited by the hardware environment, and the traditional speed sensor generally does not have the functions of intelligent self-diagnosis, self-correction and the like, and can not meet the development requirements of intelligent rail transit vehicles.
The traditional train running speed and running distance are obtained by sensing the rotation condition of a speed measuring fluted disc and outputting pulse signals, a train control vehicle-mounted system receives the pulse signals at a far end, the rotation angular speed of the speed measuring fluted disc is obtained by conditioning and calculating, and the calculation is carried out by combining a gear transmission ratio and the wheel diameter of wheels.
Therefore, the development of an intelligent speed sensing device with high precision, high reliability and an intelligent self-diagnosis function has important significance for improving the performance of the rail transit vehicle.
Disclosure of Invention
In view of this, the present invention provides an intelligent speed sensing device, which is applied to intelligent monitoring of speed states of rail transit vehicles such as wheel axle locomotives, subways, and high-speed trains.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides an intelligent speed sensing device, which comprises a speed measuring fluted disc, a speed sensing element group, a standard signal generator, a signal conditioning circuit, a multi-channel signal converter, a microprocessor and a communication module, wherein the speed measuring fluted disc is connected with the speed sensing element group;
the speed measuring fluted disc and the speed sensing element set are arranged in a matched mode, and the motion state signals of the speed measuring fluted disc are collected simultaneously through the speed sensing element set;
the standard signal generator is used for generating standard voltage, a zero standard value and a standard signal with fixed frequency;
the signal conditioning circuit is used for preprocessing the collected motion state signal to obtain a digital pulse signal with a preset phase difference;
the multi-channel signal converter is respectively connected with the signal conditioning circuit, the standard signal generator and the microprocessor;
the multi-channel signal converter gates standard voltage, a zero standard value and a standard signal with fixed frequency at different time intervals under the control of the microprocessor;
the microprocessor obtains the motion state of the speed measuring fluted disc by analyzing the digital pulse signal and the standard signal;
the communication module is connected with the microprocessor and used for sending information processed by the microprocessor.
Furthermore, the speed sensing element group comprises a measuring unit consisting of at least three speed sensors, and the phase difference intervals of signals acquired by the speed sensors are equal.
Further, the microprocessor module is provided with an abnormal value judgment unit, and the abnormal value judgment unit is carried out according to the following steps:
calculating confidence intervals of signals simultaneously acquired by each speed sensor;
judging whether the current data is in a confidence interval or not, if so, judging the normal value; if not, the value is an abnormal value;
determining a speed sensor channel with an abnormal value and counting the frequency of the abnormal value of each speed sensor;
and judging whether the frequency of the abnormal value exceeds a preset threshold value or not, if so, judging the speed sensor channel as a data fault channel, and positioning the channel to cause the sensor state bit to have a fault, so that the data of the fault channel is not used.
Further, the microprocessor module is provided with a circuit working state judgment unit, and the circuit working state judgment unit is carried out according to the following steps:
judging that the intelligent speed sensing device is controlled to enter a self-checking mode through the microprocessor when the vehicle is parked statically;
the microprocessor controls the multiplexer to gate the fixed frequency signal f generated by the standard signal generator;
the microprocessor collects a fixed frequency signal f and calculates to obtain a simulated rotating speed value;
judging whether the difference value between the calculated analog rotating speed value and the standard reference value stored in the memory is in a preset range, if the difference value is in the preset range, passing the self-checking, otherwise, considering that the digital circuit part of the intelligent speed sensing device is in an abnormal state;
an anomaly warning is issued by the communication module.
Further, the microprocessor module is provided with an idle judgment unit, and the idle judgment unit is carried out according to the following steps:
acquiring a vehicle state signal;
judging whether the vehicle is in a traction state or not according to the vehicle state signal, and if not, continuously acquiring the vehicle state signal; if yes, processing according to the following steps:
obtaining an axle speed signal Va obtained by combining the speed sensing signal with wheel diameter parameter processing,
acquiring a vehicle speed signal Vb obtained by processing an acceleration sensing signal,
creep rate was calculated according to the following formula:
judging whether the creep slip rate exceeds a preset threshold value, if so, idling the wheel shaft; and sending idle-turn warning information;
and transmitting the idle warning signal through the communication module.
Further, the microprocessor module is provided with a sliding judgment unit, and the sliding judgment unit is carried out according to the following steps:
acquiring a vehicle state signal;
judging whether the vehicle is in a braking state or not according to the vehicle state signal, and if not, continuously acquiring the vehicle state signal; if yes, processing according to the following steps:
obtaining an axle speed signal Va obtained by combining the speed sensing signal with wheel diameter parameter processing,
acquiring a vehicle speed signal Vb obtained by processing an acceleration sensing signal,
creep rate was calculated according to the following formula:
judging whether the creep rate exceeds a preset threshold value, if so, enabling the wheel axle to slide; and sending out sliding early warning information;
and transmitting the sliding early warning signal through the communication module.
Further, the device also comprises a storage module; the storage module is connected with the microprocessor and used for storing the running state of the vehicle, the wheel diameter parameters and the standard parameters.
Further, the device also comprises a power supply module; and the power supply module is respectively connected with the multichannel signal converter, the microprocessor and the communication module and used for providing electric energy.
The invention has the beneficial effects that:
according to the intelligent speed sensing device, after the rotating speed signal of the speed measuring fluted disc is collected, the rotating speed signal is processed in time through the local signal processing equipment arranged at the position of the collected signal, so that the problem that the original analog signal is easily interfered by the signal when transmitted in a long distance and a remote end is solved, the processed digital signal with high reliability is adopted for long-distance transmission, and the output of the rotating speed value of the wheel axle, the vehicle speed value and the idle sliding state of the wheel axle is locally provided with high precision, low time delay and direct digitization.
Meanwhile, the sensor group is adopted to acquire signals, the defect that a single sensor cannot sense the state of the wheel axle more is avoided, the resources of various types of sensors are increased, and information complementation in space or time is realized.
The device has the characteristics of high precision, high stability, intelligent self-checking, self-correction, self-compensation, self-diagnosis and the like, the wheel axle type speed sensor is the first choice equipment for train speed measurement and distance measurement at present, and is widely used for train speed measurement in a train control vehicle-mounted system of a rail transit vehicle.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
fig. 1 is a schematic diagram of a hall-type tacho pulse sensor.
Fig. 2 is a schematic block diagram of hardware.
Fig. 3 is a relationship diagram of the speed measuring fluted disc rotating clockwise.
Fig. 4 is a relationship diagram of the speed measuring fluted disc rotating counterclockwise.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
The intelligent speed sensing device provided by the embodiment is a hybrid rail transit vehicle speed evaluation method which is based on an axle speed sensing element and an acceleration sensing element and directly performs signal filtering and data processing locally by using a microprocessor, and directly outputs the current axle rotating speed, the vehicle speed and the idle or sliding state of the current wheel to be tested of the rail transit vehicle in the form of digital signals through a serial interface.
As shown in fig. 2, the hardware schematic block diagram of the intelligent speed sensing device includes a sensing element, a signal conditioning circuit, a standard signal generator, a multi-channel signal converter, a microprocessor, a storage module, a communication module, and a power supply module;
the speed measuring fluted disc and the speed sensing element set are arranged in a matched mode, and the motion state signals of the speed measuring fluted disc are collected simultaneously through the speed sensing element set;
the standard signal generator is used for generating standard voltage, a zero standard value and a standard signal with fixed frequency;
the signal conditioning circuit is used for preprocessing the collected motion state signal to obtain a digital pulse signal with a preset phase difference;
the multi-channel signal converter is respectively connected with the signal conditioning circuit, the standard signal generator and the microprocessor;
the multi-channel signal converter gates standard voltage, a zero standard value and a standard signal with fixed frequency at different time intervals under the control of the microprocessor;
the microprocessor obtains the motion state of the speed measuring fluted disc by analyzing the digital pulse signals and the standard signals, can calculate to obtain the rotating speed omega of the wheel axle, which is f/N, wherein f is the frequency of the pulse signals output by the speed sensitive element, N is the tooth number of the speed measuring fluted disc when the wheel rotates, and can further calculate to obtain the vehicle speed V which is 3.6 pi D omega km/h by combining the wheel diameter parameter D received by the network;
the communication module is connected with the microprocessor and used for sending signals processed by the microprocessor. The signals processed by the microprocessor include calculated vehicle speed signals, predicted axle idle/coast conditions, and the health of the speed sensing device.
The storage module is connected with the microprocessor and used for storing vehicle running states (traction, braking or coasting), wheel diameter parameters, standard parameters and the like.
And the power supply module is respectively connected with the multichannel signal converter, the microprocessor and the communication module and used for providing electric energy.
The sensing elements provided by the embodiment include a hall element group (a multi-channel speed sensor, or four or five speed sensors can be selected as the hall element group according to actual conditions), an inertial element (an acceleration sensor) and a temperature sensing element (a temperature sensor), which are respectively used for acquiring a speed pulse signal, an acceleration signal and an environment temperature signal; in consideration of hardware redundancy, a multi-channel Hall sensor capable of generating a certain phase difference signal is preset, a multi-channel speed sensor respectively corresponds to the sensing channel A, B, C, and three channels collect signals simultaneously.
The phase difference set in this embodiment may be 60 degrees, the multichannel hall sensor may select a multichannel speed sensor composed of three elements, or may select a multichannel speed sensor composed of four or five hall elements, and the specific phase difference may be determined according to actual conditions so as to be suitable for a certain phase difference to be set between the speed sensors in sequence.
As shown in fig. 3 and 4, the output waveforms of the speed measuring fluted disc during clockwise rotation and counterclockwise rotation are respectively, and the rotation direction of the speed measuring fluted disc is determined according to the sequence of the rising edges of the pulses of the output waveforms, which is specifically as follows:
when the mounting positions and the output waveforms of the three-channel sensor and the speed measuring fluted disc are shown in fig. 3, the fact that the channel C is prior to the channel B and the channel B is prior to the channel A is shown, and the fact that the speed measuring fluted disc rotates clockwise is shown; when the mounting positions and the output waveforms of the three-channel sensor and the speed measuring fluted disc are shown in fig. 4, the fact that the rising edge of the pulse is measured before the channel A and the channel B and the rising edge of the pulse is measured before the channel C shows that the speed measuring fluted disc rotates anticlockwise at the moment is shown;
on one hand, the microprocessor can determine the forward and reverse directions of the wheel axle by identifying the phase difference of any two paths of signals in the three paths of signals;
on the other hand, the three channels respectively collect and calculate the data of each sensor in real time, and adopt two-out-of-three fault-tolerant processing to judge whether the current data is in a confidence interval, so as to determine whether the channel sensor has an abnormal value; if the continuous abnormal value exists, judging the data fault of the channel sensor, and positioning the state bit fault of the channel sensor, and not using the data of the fault channel.
The signal conditioning circuit provided by the embodiment is mainly used for amplifying the original acquisition signal, filtering the primary hardware and carrying out linearization processing;
the standard signal generator provided by the embodiment is used for generating a standard voltage, a zero standard value and a fixed frequency signal,
on one hand, the microprocessor controls the multiplexer to gate the standard voltage and the zero standard value in a time-sharing way and record the circuit output under the two conditions, thereby eliminating the influence of zero drift and sensitivity drift,
on the other hand, the microprocessor receives the fixed frequency signal and calculates the analog rotating speed value in the self-checking mode, so that whether the digital circuit part of the intelligent speed sensing device is in a normal state or not can be checked under the condition that the vehicle is static;
if the vehicle is still, the intelligent speed sensing device can be controlled to enter a self-checking mode, the microprocessor controls the multiplexer to gate a fixed frequency signal f generated by the standard signal generator (the frequency signal can be set according to the actual situation), the microprocessor collects the frequency signal and obtains an analog rotating speed value through conventional processing calculation, the calculated value is compared with a standard reference value stored in the memory, if the error is within a certain range, the self-checking is passed, otherwise, the digital circuit part of the intelligent speed sensing device is considered to be in an abnormal state, and an abnormal warning is sent out through the network.
The microprocessor provided by this embodiment is a core of the intelligent sensor, and may adopt an FPGA or an ARM chip, and may improve static characteristics (such as self-correction, self-zeroing, self-calibration functions, etc. of measurement accuracy), dynamic characteristics (such as improvement of response speed, frequency compensation, temperature compensation, etc.), and accuracy and stability by using digital filtering, intelligent compensation techniques, etc.; the functions of self-checking, self-diagnosis, self-searching for faults, self-recovery and even fault prediction of the sensor are realized by utilizing the information storage and processing capacity;
the communication module provided by the embodiment adopts a network communication module which is provided with a bidirectional bus communication interface, so that not only is standardized digital output of data after real-time measurement and calculation realized, but also information such as vehicle running state, wheel diameter parameters and the like can be received, and the microprocessor integrates speed sensing signals, acceleration sensing signals and the information, so that the idle running/sliding state of the current wheel axle can be further presumed.
In the embodiment, the rail transit vehicle has only three states in operation, namely traction, braking and coasting, idling can only occur in the traction state, and coasting can only occur in the braking state;
the wheel axle speed signal obtained by combining the speed sensing signal with the wheel diameter parameterReferred to as Va, and a vehicle speed signal obtained by processing the acceleration sensor signal is referred to as Vb, the creep rate
When the vehicle is in a traction working condition, if the creep rate exceeds a certain value (generally 5% in a non-starting state), the instantaneous adhesion coefficient is reduced, and the wheel axle is likely to idle; when the rail transit vehicle is in a braking state, if the creep rate exceeds a certain value (generally 5%), the instantaneous adhesion coefficient is reduced, the wheel axle is likely to slide soon, the early warning information can also be sent to the train control system through the bus communication interface, and the train control system is assisted to perform torque reduction operation.
The device provided by the embodiment can avoid signal interference of long-distance transmission of analog signals, improve the precision, response speed and anti-interference capability of the speed sensor in the aspect of test and measurement, and provide data support for traction transmission control of the whole train, so that the architecture of the existing train control system is optimized, the calculation load of a vehicle-mounted control unit is reduced, and the miniaturization and distributed control of the vehicle-mounted control unit are further realized; meanwhile, the data processing, storing and controlling functions of the local microprocessor can be utilized to realize the self-checking, self-diagnosis, self-recovery and self-compensation health management and fault prediction functions.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (8)
1. An intelligent speed sensing device, characterized by: the device comprises a speed measuring fluted disc, a speed sensing element group, a standard signal generator, a signal conditioning circuit, a multi-channel signal converter, a microprocessor and a communication module;
the speed measuring fluted disc and the speed sensing element set are arranged in a matched mode, and the motion state signals of the speed measuring fluted disc are collected simultaneously through the speed sensing element set;
the standard signal generator is used for generating standard voltage, a zero standard value and a standard signal with fixed frequency;
the signal conditioning circuit is used for preprocessing the collected motion state signal to obtain a digital pulse signal with a preset phase difference;
the multi-channel signal converter is respectively connected with the signal conditioning circuit, the standard signal generator and the microprocessor;
the multi-channel signal converter gates standard voltage, a zero standard value and a standard signal with fixed frequency at different time intervals under the control of the microprocessor;
the microprocessor obtains the motion state of the speed measuring fluted disc by analyzing the digital pulse signal and the standard signal;
the communication module is connected with the microprocessor and used for sending information processed by the microprocessor.
2. The apparatus of claim 1, wherein: the speed sensing element group comprises a measuring unit consisting of at least three speed sensors, and the phase difference intervals of signals acquired by the speed sensors are equal.
3. The apparatus of claim 2, wherein: the microprocessor module is provided with an abnormal value judgment unit which is carried out according to the following steps:
calculating confidence intervals of signals simultaneously acquired by each speed sensor;
judging whether the current data is in a confidence interval or not, if so, judging the normal value; if not, the value is an abnormal value;
determining a speed sensor channel with an abnormal value and counting the frequency of the abnormal value of each speed sensor;
and judging whether the frequency of the abnormal value exceeds a preset threshold value or not, if so, judging the speed sensor channel as a data fault channel, and positioning the channel to cause the sensor state bit to have a fault, so that the data of the fault channel is not used.
4. The apparatus of claim 2, wherein: the microprocessor module is provided with a circuit working state judging unit, and the circuit working state judging unit is carried out according to the following steps:
judging that the intelligent speed sensing device is controlled to enter a self-checking mode through the microprocessor when the vehicle is parked statically;
the microprocessor controls the multiplexer to gate the fixed frequency signal f generated by the standard signal generator;
the microprocessor collects a fixed frequency signal f and calculates to obtain a simulated rotating speed value;
judging whether the difference value between the calculated analog rotating speed value and the standard reference value stored in the memory is in a preset range, if the difference value is in the preset range, passing the self-checking, otherwise, considering that the digital circuit part of the intelligent speed sensing device is in an abnormal state;
an anomaly warning is issued by the communication module.
5. The apparatus of claim 2, wherein: the microprocessor module is provided with an idle judgment unit, and the idle judgment unit is carried out according to the following steps:
acquiring a vehicle state signal;
judging whether the vehicle is in a traction state or not according to the vehicle state signal, and if not, continuously acquiring the vehicle state signal; if yes, processing according to the following steps:
obtaining an axle speed signal Va obtained by combining the speed sensing signal with wheel diameter parameter processing,
acquiring a vehicle speed signal Vb obtained by processing an acceleration sensing signal,
creep rate was calculated according to the following formula:
judging whether the creep slip rate exceeds a preset threshold value, if so, idling the wheel shaft; and sending idle-turn warning information;
and transmitting the idle warning signal through the communication module.
6. The apparatus of claim 2, wherein: the microprocessor module is provided with a sliding judgment unit, and the sliding judgment unit is carried out according to the following steps:
acquiring a vehicle state signal;
judging whether the vehicle is in a braking state or not according to the vehicle state signal, and if not, continuously acquiring the vehicle state signal; if yes, processing according to the following steps:
obtaining an axle speed signal Va obtained by combining the speed sensing signal with wheel diameter parameter processing,
acquiring a vehicle speed signal Vb obtained by processing an acceleration sensing signal,
creep rate was calculated according to the following formula:
judging whether the creep rate exceeds a preset threshold value, if so, enabling the wheel axle to slide; and sending out sliding early warning information;
and transmitting the sliding early warning signal through the communication module.
7. The apparatus of claim 2, wherein: the device also comprises a storage module; the storage module is connected with the microprocessor and used for storing the running state of the vehicle, the wheel diameter parameters and the standard parameters.
8. The apparatus of claim 7, wherein: the device also comprises a power supply module; and the power supply module is respectively connected with the multichannel signal converter, the microprocessor and the communication module and used for providing electric energy.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112224241A (en) * | 2020-11-18 | 2021-01-15 | 中国铁道科学研究院集团有限公司 | Speed acquisition system, fault alarm method and device |
| CN114475698A (en) * | 2022-01-28 | 2022-05-13 | 中铁第一勘察设计院集团有限公司 | Intelligent anti-collision control system for end line shunting and implementation method |
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