CN112124333B - Control system and control method for executing automatic driving of railway operation vehicle - Google Patents

Abstract

The invention discloses a control system and a method for executing automatic driving of a railway operation vehicle, wherein the system main body comprises: mechanical transmission mechanism, drive arrangement, communication device, control system, sensing device and safety arrangement. The device is integrated and arranged under a railway operation vehicle driving operation platform, can receive an acceleration and deceleration control signal of an upper industrial personal computer and accurately and stably execute the acceleration and deceleration control signal, and can ensure that the device enters an emergency braking mode under the limit working condition and the emergency condition of an operation vehicle to ensure the safety of the vehicle; performing active alarm when the equipment is abnormal or the execution command is wrong; when a driver actively intervenes in the locomotive operation, the automatic driving mode is actively exited to enter the manual driving mode; when the equipment normally runs, a series of locomotive operations can be carried out to ensure the automatic driving operation specification and safe running of the working vehicle.

Description

Control system and control method for executing automatic driving of railway operation vehicle

Technical Field

The invention relates to the field of automatic control, in particular to a control system and a control method for executing automatic driving of a railway operation vehicle.

Background

In the automatic driving process of the working vehicle, a locomotive driving system capable of being electrically controlled is needed, the railway working vehicle does not have mature brake-by-wire and engine throttle at the present stage, and the driving of all the working vehicles is operated by a trained driver.

In order to realize automatic driving of a work vehicle, an automatic driving system capable of electrically controlling operation has been indispensable. However, based on the strict safety performance requirement of rail transit, the railway and the power supply section generally do not allow the brake system and the electronic throttle system of the existing mainstream work vehicle to be modified by wire control, so that the electric control system is additionally arranged in the brake system and the electronic throttle system operating mechanism, which is a compromise scheme and is also a scheme which can be realized under the current requirement.

In the automatic driving process, the control of the vehicle speed has very high requirements on the execution response speed and the accuracy of a brake-by-wire system and an electronic accelerator, so how to efficiently and accurately realize an electric control device and a control method of the brake and the accelerator on the basis of the existing brake system and the accelerator system is a difficult problem to solve.

Disclosure of Invention

The invention aims to provide a control system and a control method for executing automatic driving of a railway working vehicle, which utilize an alternating current servo motor to operate a brake valve body through a mechanical transmission mechanism, utilize analog output quantity to control an electronic throttle and replace a driver to accurately carry out driving operation of the working vehicle.

In order to achieve the purpose, the invention provides the following technical scheme:

a control system for performing automatic driving of a railway working vehicle, the control system main body comprising: the device comprises a mechanical transmission mechanism, a driving device, a communication device, a control device, a sensing device and a safety protection device;

the mechanical transmission mechanism includes: the device comprises a gear reducer (10) with a fixed speed ratio for reducing speed and increasing torque, a stepped shaft (8) for transmitting power, a pair of standard gear pairs (3) for outputting power, a chuck (2) for starting a brake valve body, an electromagnetic clutch (12) for switching driving modes, and a mounting seat (7) for providing positioning, mounting, lubricating and supporting functions in an auxiliary manner;

the control device comprises a Programmable Logic Controller (PLC) for receiving various signals and carrying out analysis control, and is specifically used for processing command information, processing all received feedback information, supplying low-power DC24V power supply, sending control actions to be executed, switching on or off all sensing signals and an electromagnetic clutch;

the communication device is used for receiving an execution command of the upper industrial personal computer and feeding back a bottom layer signal;

the driving device is used for driving the action execution and maintenance of the whole mechanical transmission mechanism; the driving device comprises a servo amplifier which is used for receiving motion signals, torque control signals, rotating speed allocation, servo starting, encoder zero clearing and operation limit control;

the sensing device is used for detecting the running state of the control system, and also comprises a detection mechanism limit working condition and a dangerous working condition, a detection mechanism running absolute position and a mechanism electrification original point correction.

The photoelectric sensor and the corresponding receiver are used for returning to a mechanical origin of the mechanical transmission mechanism, and correcting and eliminating mechanism errors accurately before the mechanical transmission mechanism starts to work; the mechanical microswitch is used for braking the limit of two ends of the valve body, is arranged on two sides of the limit lug, and is used for detecting and sending a limit signal to the controller; and the pressure sensing film is used for detecting and sending the rear contact pressure of the handle and detecting whether a driver intervenes in driving.

Furthermore, the driving device also comprises an alternating current servo motor (11) connected with the servo amplifier, selects a position control mode and absolute position positioning, and is used for executing the action of the received command, positive and negative rotation switching and rotating speed conversion.

Further, safety arrangement is including customized electromagnetic clutch (12) and the buzzer that flashes, and power is cut off rapidly when dangerous operating mode appears in the mechanism or there is the driver to control brake handle (4) or electron throttle artificially to electromagnetic clutch, and the buzzer that flashes is used for sending danger warning signal, and the warning operation personnel carry out artificial intervention inspection, overhaul and reset.

The invention also provides a control method using the control system, which comprises the following steps:

s1: after the system is powered on, the system is delayed for a short time, the origin point of the whole mechanism is subjected to origin point regression correction by using a sensor and a chuck, equivalent corner information of all encoders is cleared, and the mechanism is required to operate to a standard operation position (a brake valve is in the operation position) at the moment and wait for signal receiving; after the return action is finished, the short delay is exited to enter a normal operation mode;

s2: the data communication is carried out by adopting a serial RS485 protocol, the working vehicle enters an automatic driving mode under a monitoring mode, the upper computer continuously sends data of the requirements of an accelerator and a brake, and the data are subjected to RS485 conversion by the protocol conversion module and then are accessed to the PLC communication expansion module for being read and processed by the PLC;

s3: receiving a zone bit control instruction through a serial port, feeding back a zone bit of the serial port according to the execution state of an instruction of a previous frame to obtain the zone bit of the serial port, and receiving and processing the upper data only by the whole lower execution mechanism when the zone bit is effective, or continuing to wait; when receiving and processing, the PLC judges the performability of the data and the state of the mechanism, discards the data of which the amplitude change exceeds a preset value, exceeds an execution range and is output by an abnormal valve position and sends out a light warning, and simultaneously keeps the execution state of the current frame and stores the execution state in a register; when the data state is judged to be normal, the PLC sends a corresponding instruction to drive the servo positioning mechanism and sends a corresponding analog voltage to a corresponding electronic throttle after being processed by the main program; if the electronic accelerator and the brake valve position instruction are not zero at the same time, only the brake operation is executed, the output of the electronic accelerator is forced to be zero, and meanwhile, the error is reported temporarily;

s4: the servo positioning mechanism starts to operate, and the electronic throttle sends corresponding voltage; the servo motor drives the whole mechanical transmission mechanism to operate to drive the chuck plate to rotate, and the chuck plate drives the braking valve body bump to further realize valve position switching and maintaining; in the whole movement process, if the mechanical microswitch is triggered, the mechanism is rapidly switched to a braking position, and the flashing buzzer is triggered to give an alarm and keep and cut off the power; if the mechanical microswitch is not triggered in the whole execution process, the motor runs to the designated valve position, and the execution is marked to be finished;

s5: all sensors continuously work to receive state signals after the control system is powered on, the purpose is to monitor the running state of the mechanism, no signal is input to the sensors in a normal automatic driving mode, and the mechanism executes the above circular operation; when a signal is input, the PLC can judge the emergency state of the system and control the system to enter a safety processing mode of a corresponding level.

Furthermore, in the zero point regression operation action, the rotating speed of the motor should be adjusted to be smaller as much as possible; the chuck should be drilled with a circular through hole with a diameter of 2-3mm at the corresponding zero setting position to provide a conducting signal for the U-shaped photoelectric sensor.

Further, step S5 further includes: when a brake handle is operated by a hand or other external forces intervene, the sensor detects that side pressure is applied, the PLC receives a pressure signal, the power-on of the electromagnetic clutch is immediately switched off, the servo motor and other transmission mechanisms stop working after the last frame of command is executed, and meanwhile, the alarm lamp flickers; because the electromagnetic clutch is powered off, the action of the last frame cannot be transmitted to the brake valve body, and the operation right of the brake is owned by a driver until the brake is manually released and powered on again.

In addition, the system is powered on and comprises a servo motor and a controller access AC 220V; the power supply is provided by a DC24V signal, and the power supply is provided by an electromagnetic clutch, and each sensor is respectively provided with power supply by a DC24V or power supply by a DC/DC 5V.

The step 3 comprises the following steps: if the receiving permission flag is turned on (if the receiving permission flag is turned off, the delay waiting is carried out), the execution mechanism receives the upper computer data through the protocol conversion module and stores the upper computer data in the designated register of the controller. The mechanism continuously executes the instructions in a circulating way, after the execution is finished each time, the serial port receiving zone bit is turned on again, the next frame of data is waited, and the zone bit is turned off after the data receiving is finished each time; during the off period of the flag bit, no response is made to the upper layer signal until the flag bit is on, and only the data at the current time is executed.

Compared with the prior art, the invention has the following beneficial effects:

on the basis of not changing the original operation vehicle machinery and gas circuit device, the external electric control equipment is additionally arranged to realize the automatic execution of the operation vehicle driving operation, so that a set of complete automatic driving wire-controlled execution device of the operation vehicle is formed, and the wire-controlled brake and the electronic accelerator required by the automatic driving of the operation vehicle can be realized. The whole safety performance of controlling of satisfying the safe driving of operation car of mechanism is the highest requirement, strictly can realize that safety warning, mechanism reset and equipment cut off the power supply when dangerous operating mode or manual intervention to pass through the durable experiment of rack.

The control system can accurately replace the driving operation of a driver to finish the acceleration and deceleration and the speed maintenance of the working vehicle; the invention has compact structure, can be completely arranged below the panel of the existing driving platform, hardly generates any influence on the arrangement of the existing driving cabin, does not form any interference on the driving operation of the existing operation vehicle driver, and does not change the power performance of the existing locomotive.

Drawings

FIG. 1 is a schematic diagram of electrical signal transmission of a control system according to an embodiment of the present invention;

FIG. 2 is a three-dimensional model of a mechanical transmission mechanism according to an embodiment of the present invention;

FIG. 3 is a power transmission diagram of a mechanical transmission according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of a control method according to an embodiment of the present invention;

in the figure: 1-valve body, 2-chuck, 3-gear pair, 4-handle, 5-lug, 6-angle encoder, 7-mounting seat, 8-stepped shaft, 9-coupling, 10-speed reducer, 11-servo motor and 12-electromagnetic clutch.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 3, the present invention provides a control system for performing automatic driving of a railway vehicle, which may be integrated under a driving operation platform of the railway vehicle; the method comprises the following steps: mechanical transmission mechanism, drive arrangement, communication device, controlling means, sensing device and safety arrangement.

The mechanical transmission mechanism is used for reducing speed, increasing torque, transmitting power, positioning and mounting various sensing components, connecting or disconnecting torque and completing execution parts of various operations; and the driving device is used for providing driving force for the mechanical transmission mechanism and realizing accurate positioning. The driving device comprises a servo amplifier and an alternating current servo motor which are matched for driving the mechanical mechanism, and the absolute positioning mode is adopted for driving the positioning lug to move to the designated valve position.

Wherein, with reference to fig. 2, said mechanical transmission comprises: the brake valve comprises a brake valve body 1, a transmission chuck 2 for starting the chuck of the brake valve body, a pair of standard gear pairs 3 for outputting power, a handle 4, a lug 5, an angle encoder 6, an installation seat 7 for providing positioning, installation, lubrication, support and other functions, a stepped shaft 8 for transmitting power, a coupler 9, a gear reducer 10 for reducing speed and increasing torque and fixing speed ratio, and an electromagnetic clutch 12 for switching driving modes; servo motor 11, reduction gear 10, shaft coupling 9, step shaft 8 connect gradually, are connected with mount pad 7 on the step shaft 8, are connected with valve body lug 5 on the mount pad 7, are equipped with (holding) chuck 2 on the valve body 1, and (holding) chuck 2 is connected with the other end of lug 5, and the step shaft top is equipped with gear pair 3, and gear pair 3 is connected with electromagnetic clutch 12 transmission, and electromagnetic clutch 12 still drives (holding) chuck 2 and moves.

Fig. 3 further illustrates the power transmission path of the mechanical transmission mechanism, as follows: the servo motor 11 → the gear reducer 10 → the coupling 9 → the stepped shaft 8 → the gear pair 3 → the electromagnetic clutch 12 → the chuck 2 → the valve body protrusion 5 → the brake mechanism. Wherein, the transmission chuck 2 is used for force transmission terminal and positioning zero point; the edge of the chuck can customize the angle coding disc 6, the external gear engages with encoder, the absolute turning angle of the feedback mechanism; the edge of the chuck is provided with a through hole.

The electromagnetic clutch 12 is used for attracting and separating power transmission; a standard electromagnetic clutch can be adopted, a rotor of the electromagnetic clutch is fixedly connected with a driven gear through bolts, a magnet is fixedly connected with a chuck (2) through bolts, and the gap is kept between 0.5 and 1 mm. In order to further reduce the weight and the arrangement size of the mechanism, a customized electromagnetic clutch can be adopted, a rotor of the electromagnetic clutch is combined with a moving gear, a groove ring is arranged on the lower side of a driven gear, a coil is embedded in a groove and is combined with a friction plate, and a magnet of the electromagnetic clutch (12) is combined with a chuck and is specially customized. The customized electromagnetic clutch can reduce the size of the mechanism and the positioning complexity.

In order to realize accurate control of the valve position of the mechanical transmission mechanism, two modes of absolute positioning and relative positioning can be adopted. The invention adopts absolute positioning: before the whole mechanical transmission mechanism is designed, angle measurement is carried out on all valve positions, and torque required by valve position conversion is measured; taking the running position as a mechanical zero point of the mechanical transmission mechanism, and measuring results are as follows: the anticlockwise direction is respectively an overcharge position, an operation position, a minimum brake position, a brake area (which can be omitted), a maximum brake position, an excess decompression position, a handle taking-out position and an emergency brake position; the corresponding absolute angles are respectively: -16 °, 0 °, 15 ° to 67 °, 83 °, 98 °, 121 °; the maximum torque of the mechanism does not exceed 17N m; through reduction ratio conversion and through parameter calculation in the servo motor, pulse equivalent corresponding to all angles is obtained for absolute positioning use, and therefore the design can reduce operation errors to the maximum extent. Due to measurement errors, the pulse equivalent of each valve position can be actually adjusted on the basis of calculation during actual test.

In order to further reduce the calculation of an upper industrial personal computer, the communication is convenient and the number of bytes is reduced, all valve positions are subjected to label definition, and the whole deceleration area is dispersed into ten valve positions; the marks of ten valve positions after the speed reduction area is dispersed are respectively defined as 1-10#, the running position is defined as 0#, and other valve positions including an over-filling position, an over-pressure reduction position, a handle taking-out position and an emergency braking position are respectively defined as 11-14 #; the upper industrial personal computer can complete control only by sending the designated label to the control of the brake system.

The control device includes a programmable logic controller for providing overall brake actuator and electronic throttle control. As shown in fig. 1, the following functions are implemented in the PLC program: the method comprises the steps of defining a specific communication format, defining the running direction, realizing the running and stopping control of a motor (10), controlling the on-off of a clutch (11), outputting the voltage of a D/A conversion electronic throttle, controlling the on-off of a flash buzzer and an LED lamp in an alarm module, resetting a mechanical origin motor encoder, accurately positioning and maintaining a brake valve body and the like. The PLC input end is connected with the switching value: on-off signals of a photoelectric switch from a photoelectric sensor, on-off signals of a mechanical microswitch for limiting the limit positions of the left valve body and the right valve body, and analog quantity-to-switching quantity of pressure sensors arranged on the left side and the right side of the root of the handle; the output quantity of the output end of the PLC is as follows: PWM wave for motor control and motor rotation direction switching value, buzzer switching value, electromagnetic clutch switching value, electronic throttle output analog value and general DC24V low-power supply. Wherein the LED lamp can be used for fault warning; the output analog quantity of the electronic throttle is applied to the adjustable boosting module through the analog quantity module, and then the size of the electronic throttle is adjusted.

The mechanical transmission mechanism comprises a servo motor, a servo motor and a control device, wherein the servo motor is used for receiving and executing a control signal and driving the mechanical mechanism to operate to a specified valve position; servo motor transversely arranges under the valve body, connects supporting encoder and servo amplifier, connects L type gear reducer (10), and reduction gear ratio is 1: 16.

the servo motor (11) is integrally connected by adopting a leakage connection method, a servo amplifier is connected with the output end of a Programmable Logic Controller (PLC) transistor to receive PWM waves and direction signals, and the servo motor (11) and the PLC share a negative pole and are externally connected with a 24V direct-current power supply. The signal input mode adopts an open collector mode, the PP end is connected with the high-speed pulse train driving motor to operate, and the NP end is connected with a direction signal. Preferably, an internal electronic gear of the non-selective motor is arranged, the forward and reverse rotation torque limit is set to be 100, and 10000 pulse trains are defaulted to rotate for one circle.

The communication device is used for data communication, and the communication device is in data communication with an upper industrial personal computer by using a serial communication and RS485 communication protocol user-defined mode. The invention preferably uses two schemes, scheme one: adjusting the execution speed of the motor, configuring corresponding parameters, receiving a zone bit through a control signal to perform data receiving control, and performing feedback control on the signal receiving zone bit according to the execution state of the motor; scheme II: and the controller compares the current state, the latest frame data and the data receiving sequence to calculate and judge an output operation instruction.

The upper industrial personal computer is connected into the PLC RS485 communication extension module through the USB-to-485 module, a double-wire system connection method is adopted, and an 8-bit 16-system receiving and storing mode is selected. The communication format adopts 8-bit data bits, 1-bit end bit, even check and baud rate 9600. Because of the angle relation and the selection of PLC computing power, 32 bits of double words can be adopted for operation; the communication characters comprise 8-bit 16-system numbers, the first 4 bits are target angles (when the labels are adopted for sending, the first two bits are empty by default, the 3-4 bits are label bits), the 5-6 bits and the 2 bits are direction information, the 01 positive rotation and the 02 reverse rotation are carried out, and the 7-8 bits are electronic throttle voltage equivalent values; the angle is set to forcibly execute, and the serial port receiving is carried out again after the forced execution is finished; and defaulting to electrify the PLC and return the equivalent angle of the motor to the original point.

The electric control system program in the PLC is divided into two parts: driving procedure, debugging and testing procedure. The driving program comprises a data receiving and analyzing program, a state detection and emergency processing program, an instruction sending program and a mechanism error correction program. The data receiving and analyzing program is used for analyzing and calculating signals of the upper computer to enter a main program and preliminarily judging the performability of the signals of the upper computer; the state detection and emergency processing program continuously detects the state of the mechanism and controls the mechanism to enter the emergency processing of the corresponding level at the moment that each state sensor triggers the mechanism; the instruction issuing program calculates and issues a corresponding instruction to the lower computer through the main program; and the mechanism error correction program corrects the mechanical structure error when the mechanism is powered on or the brake valve position is continuously at the operation position. The debugging and testing program is divided into an endurance cycle program and a state detection program; the durable circulating program control structure is used for continuously switching and maintaining the valve positions in a durable experiment and performing zero point regression; the state detection program continuously detects the state of the system and whether the driver intervenes in the operation.

The safety protection device is used for enabling the mechanism to return to normal operation, cutting off power transmission and power supply, providing safety warning, and avoiding equipment damage and other accidents when the mechanism is in a dangerous state.

The sensing device comprises a thin film pressure sensor and a photoelectric sensor.

The film pressure sensor is used for detecting and sending the contact pressure at the rear end of the handle and detecting whether a driver intervenes in driving; the film pressure sensors are attached to the square shaft head at the input shaft end of the valve body, and are respectively arranged on the left side and the right side; the original operating handle (4) of the valve body is arranged outside the shaft head which is pasted with the film pressure sensor in a matching way.

In order to further ensure the safety of the left and right limit positions of the valve body, optionally, film pressure sensors are added on two sides of the spring tongue block on the inner side of the valve body bump (5), and when the valve body is in the limit positions, the sensors can be extruded to send out stress signals, so that the PLC enters an emergency state. Mechanical microswitches may also be used, or used in combination with mechanical microswitches, to secure the mechanism.

And the photoelectric sensor is used for the origin point regression and error zero correction of the braking mechanism. Photoelectric sensor arranges in the valve body right front, and the (holding) chuck edge adopts U type photoelectric sensor, opens the round hole of diameter 3mm at mechanism (2) edge for photoelectric sensor's laser passes. The hole site and sensor position should be calibrated first during installation. The upper part of the valve body (1) is additionally provided with a mounting disc which is fixedly connected with the photoelectric sensor, so that the positioning precision is prevented from being influenced by the vibration of the mechanism when the operation vehicle works.

The invention also provides a control method corresponding to the control system for executing the automatic driving of the railway operation vehicle, and the method comprises the following steps:

s1: after the system is powered on, firstly, performing origin point regression operation by using the installed photoelectric sensor and the chuck, wherein the origin point regression operation is set with higher priority in a program; the whole rotating speed of the mechanism is set to be slow; when the laser of the U-shaped photoelectric sensor passes through the circular hole of the chuck plate, the sensor is conducted, signals are collected by the PLC, the stop operation is carried out, the return of the mechanism origin is finished, the PLC pulse is reset, the motor encoder is reset, the bump runs to a running position (the mechanical origin is set to the running position), and the equipment starts to run normally;

s2: when the working vehicle enters an automatic driving mode, the upper industrial personal computer calculates and sends throttle and brake demand data in real time according to a defined format, and the data is sent to the PLC through the protocol conversion module and the PLC expansion module according to the defined mode; the PLC receives the data signal, firstly, the performability judgment and the rationality judgment of the data are carried out, if the processing result exceeds the execution range or the comparison change amplitude of the data and the previous frame exceeds the rational range, the PLC keeps the current state, discards the currently received data and stores the input data corresponding to the current state into the comparison register; if the current frame data processing result is reasonable, the PLC sends out a corresponding instruction to drive the mechanical mechanism to move to a corresponding valve position and send out a corresponding electronic throttle voltage;

the data is not detected and light flicker is brought to prompt; in addition, the electronic accelerator and the brake valve position generally do not act simultaneously, if the signals need to act simultaneously, the output of the electronic accelerator is abandoned and the warning lamp is turned on, and when the next frame is output normally, the alarm is released;

s3: the servo system starts to operate, and the electronic throttle sends corresponding voltage; the servo motor receives direction, frequency and angle signals to perform corresponding operation, the whole mechanical structure is driven to operate in the process, power drives the chuck to rotate after passing through the reducer-coupler-stepped shaft-gear pair, and the chuck is transmitted to the brake valve bump to realize valve position switching and maintaining; when the lug rotates to the brake operation position every time, the PLC can carry out error calibration so as to prevent mechanical error accumulation; in the whole movement process, if the mechanical microswitch is triggered, the mechanical transmission mechanism is rapidly switched to a braking position, and the flashing buzzer is triggered to give an alarm, so that the power failure of the driving device is kept; if the mechanical microswitch is not triggered in the whole execution process, the motor runs to the designated valve position, and the execution is marked to be finished;

s4: after the instruction execution is finished, resetting the serial port receiving flag bit of the PLC controller again, waiting for the data reception of the next frame, and repeating the operations;

s5: the control system detects the state of the pressure sensor at the shaft head of the valve body in real time in the whole working process, the sensor has no signal input in a normal automatic driving mode, and the control system executes the above circular operation; when a brake handle is operated by hands or other external forces intervene, the pressure is applied on the detected side, the PLC receives a pressure signal, the power-on of the electromagnetic clutch is immediately switched off, the motor and other transmission mechanisms stop working after the last frame of command is executed, and meanwhile, the alarm lamp flickers. Because the electromagnetic clutch is powered off, the action of the last frame cannot be transmitted to the brake valve body, and the operation right of the brake is owned by a driver until the brake is manually released and powered on again.

If the sensor receives corresponding signals, the abnormal conditions in different aspects of the control system are shown, and the PLC controls the system to process abnormal conditions in different levels and give alarms in different degrees; exception state handling is generally divided into three categories: when the power supply of the electromagnetic clutch is cut off, the equipment does not receive signals of an upper computer any more, the equipment warns that transmission data is not in a reasonable execution range, meanwhile, the servo state of the servo motor is released, all the equipment is quickly cut off, and meanwhile, the flashing buzzer sends out a glaring sound prompt. Wherein, all devices for warning independently supply power.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (7)

1. A control system for performing automatic driving of a railway working vehicle, the control system main body comprising: mechanical transmission mechanism, drive arrangement, communication device, controlling means, sensing device and safety arrangement, its characterized in that:

the mechanical transmission mechanism includes: the device comprises a gear reducer (10) with a fixed speed ratio for reducing speed and increasing torque, a stepped shaft (8) for transmitting power, a pair of standard gear pairs (3) for outputting power, a chuck (2) for starting a brake valve body, an electromagnetic clutch (12) for switching driving modes, and a mounting seat (7) for providing positioning, mounting, lubricating and supporting functions in an auxiliary manner;

the control device comprises a Programmable Logic Controller (PLC) for receiving various signals and performing analysis control;

the communication device is used for receiving an execution command of the upper industrial personal computer and feeding back a bottom layer signal;

the driving device is used for driving the action execution and maintenance of the whole mechanical transmission mechanism; the driving device comprises a servo amplifier which is used for receiving motion signals, torque control signals, rotating speed allocation, servo starting, encoder zero clearing and operation limit control;

and the sensing device is used for detecting the running state of the control system.

2. The control system of claim 1, wherein: the sensing device includes:

the photoelectric sensor and the corresponding receiver are used for returning to the mechanical origin of the mechanical transmission mechanism, and correcting and eliminating mechanism errors at the accurate origin before the mechanical transmission mechanism starts to work;

the mechanical microswitch is used for braking the limit of two ends of the valve body, is arranged on two sides of the limit lug, and is used for detecting and sending a limit signal to the controller;

and the pressure sensing film is used for detecting and sending the rear contact pressure of the handle and detecting whether a driver intervenes in driving.

3. The control system of claim 1, wherein: the driving device also comprises an alternating current servo motor (11) connected with the servo amplifier, selects a position control mode, positions absolutely and is used for executing the action of the received command, the forward and reverse rotation switching and the rotation speed conversion.

4. The control system of claim 1, wherein: safety arrangement is including customized electromagnetic clutch (12) and the buzzer that flashes, and power is cut off rapidly when dangerous operating mode appears in the mechanism or there is driver's artificial control brake handle (4) or electron throttle to electromagnetic clutch, and the buzzer that flashes is used for sending danger warning signal, warns the operating personnel and carries out artificial intervention inspection, maintenance and reset.

5. A control method using a control system for performing automatic driving of a railway working vehicle according to any one of claims 1 to 4, characterized in that the method comprises the steps of:

s1: after the system is powered on, the zero point regression correction of the whole mechanism is carried out for a short time by using the sensor and the chuck, and the equivalent corner information of all encoders is cleared, at the moment, the mechanism is required to operate to a standard operation position to wait for signal reception; after finishing the action, exiting the short delay and entering a normal operation mode;

s2: the data communication is carried out by adopting a serial RS485 protocol, the working vehicle enters an automatic driving mode under a monitoring mode, the upper computer continuously sends data of the requirements of an accelerator and a brake, and the data are subjected to RS485 conversion by the protocol conversion module and then are accessed to the PLC communication expansion module for the PLC to read and process;

s3, receiving the zone bit control command through a serial port, wherein the zone bit received by the serial port is obtained by feedback according to the execution state of the previous frame of command, and the whole lower actuating mechanism only receives the upper data when the zone bit is effective; the PLC judges the performability of data and the state of a mechanism, discards data with amplitude variation exceeding a preset value, exceeding an execution range and being output by an abnormal valve position and sends out a light warning, and simultaneously keeps the execution state of the current frame and saves the execution state in a register; when the data state is judged to be normal, the programmable logic controller PLC sends a corresponding instruction to drive the servo positioning mechanism and sends a corresponding analog voltage to a corresponding electronic throttle after being processed by a main program; if the electronic accelerator and the brake valve position instruction are not zero at the same time, only the brake operation is executed, the output of the electronic accelerator is forced to be zero, and meanwhile, the error is reported temporarily;

s4: the servo positioning mechanism starts to operate, and the electronic throttle sends corresponding voltage; the servo motor drives the whole mechanical transmission mechanism to operate to drive the chuck plate to rotate, and the chuck plate drives the braking valve body bump to further realize valve position switching and maintaining; in the whole movement process, if the mechanical microswitch is triggered, the mechanism is rapidly switched to a braking position, and the flashing buzzer is triggered to give an alarm and keep and cut off the power; if the mechanical microswitch is not triggered in the whole execution process, the motor runs to the designated valve position, and the execution is marked to be finished;

s5: all sensors continuously work to receive state signals after the control system is powered on, no signal is input to the sensors in a normal automatic driving mode, and the mechanism executes the above circular operation; when a signal is input, the PLC can judge the emergency state of the system and control the system to enter a safety processing mode of a corresponding level.

6. The method of claim 5, wherein: in the zero point regression operation action, the rotating speed of the motor is adjusted to be smaller as much as possible; the chuck should be drilled with a circular through hole with a diameter of 2-3mm at the corresponding zero setting position to provide a conducting signal for the U-shaped photoelectric sensor.

7. The method of claim 5, wherein: step S5 further includes: when a brake handle is operated by a hand or other external forces intervene, the sensor detects that side pressure is applied, the Programmable Logic Controller (PLC) receives a pressure signal, the power-on of the electromagnetic clutch is immediately switched off, the servo motor and other transmission mechanisms stop working after the last frame of command is executed, and meanwhile, the alarm lamp flickers; because the electromagnetic clutch is powered off, the action of the last frame cannot be transmitted to the brake valve body, and the operation right of the brake is owned by a driver until the brake is manually released and powered on again.

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