CN113008581A - Train wheel diameter difference detection and alarm diagnosis method based on motor shaft rotating speed and train speed - Google Patents
Train wheel diameter difference detection and alarm diagnosis method based on motor shaft rotating speed and train speed Download PDFInfo
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Abstract
The invention discloses a train wheel diameter difference detection and alarm diagnosis method based on motor shaft rotation speed and train speed, relates to the technical field of train fault detection, solves the problems of high cost, poor mobility, complex structure and poor anti-interference performance of the conventional wheel diameter difference detection method, and has the technical scheme that: the method comprises the steps of obtaining a wheel predicted diameter of a target shaft through a linear operation judgment method, a vehicle speed stability judgment method and a wheel diameter estimation method of a target train, screening out an effective wheel diameter of the target train according to idle running and wheel diameter sudden change working condition judgment, calculating a wheel diameter difference mean value when operation is finished, and giving an alarm according to a threshold value, wherein an additional detection device does not need to be additionally arranged on a track, so that the cost is low, and the structure is simple; the wheel diameter difference can be detected in real time without entering a maintenance warehouse, and the mobility is strong; the wheel diameter is directly obtained through the vehicle speed and the motor rotating speed, wheel set information does not need to be calibrated, and stability is high; on the premise that the vehicle speed is stable and reliable, the wheel diameter difference can be detected more accurately and stably, and an alarm is given.
Description
Technical Field
The invention relates to the technical field of train fault detection, in particular to a train wheel diameter difference detection and alarm diagnosis method based on motor shaft rotating speed and train speed.
Background
With the rapid development of the fault diagnosis technology of high-speed and heavy haul railways and urban rail transit in China, the operation and maintenance technology of rail transit vehicles is gradually changed from planned maintenance to state maintenance, and new requirements are provided for the fault diagnosis technology of China. The wheel set is used as the core of a vehicle-track system and is the key for ensuring the safe and stable running of the train, and due to the influence of a plurality of factors of machining errors and actual operation environments, certain errors always occur in the wheel diameter of the train, so that the running stability and safety of the train are influenced. Therefore, the method breaks through the existing health state monitoring and online fault diagnosis technology of key parts of the high-speed train, and the effective detection of the wheel diameter difference is an important way for ensuring the safe and efficient operation of the high-speed train.
Wheel diameter difference detection is always the key point of rail transit research at home and abroad, and the existing wheel diameter difference detection method mainly adopts methods such as laser ranging, vibration, images and wheel diameter measuring devices. The wheel diameter measurer is used as a contact type mechanical device, and the wheel diameter is determined through contact of three contact points and a wheel, and then the wheel diameter difference is obtained. According to the method based on the vibration data, one wheel pair is used as a calibration wheel, and then the composite sensor is used for obtaining the vibration characteristics of the wheel pair to be compared with the calibration wheel to obtain the wheel diameter difference, but the vibration data is easy to be interfered by external signals, and the diagnosis precision depends on the state of the calibration wheel. The laser distance measurement method adopts a laser displacement sensor to obtain the tread profile of the wheel, and estimates the wheel diameter difference through the geometric relationship, while the image method adopts a camera to obtain the wheel set image, and then adopts image processing to obtain the wheel diameter difference, but the two methods both need to additionally install additional devices on the track, and have the problems of high cost, complex structure, poor stability, poor mobility and the like.
Therefore, how to research and design a train wheel diameter difference detection and alarm diagnosis method based on the rotating speed of a motor shaft and the train speed is a problem which is urgently needed to be solved at present.
Disclosure of Invention
The invention aims to solve the problems of high cost, poor mobility, complex structure and poor anti-interference performance of the existing wheel diameter difference detection method, and provides a train wheel diameter difference detection and alarm diagnosis method based on the rotating speed and the vehicle speed of a motor shaft.
The technical purpose of the invention is realized by the following technical scheme: the train wheel diameter difference detection and alarm diagnosis method based on the motor shaft rotating speed and the train speed comprises the following steps:
s101: acquiring the speed information of the current time of a target train and the rotating speed information of a motor shaft;
s102: performing time integral processing on the running speed between the train stations according to the speed information to obtain running mileage information between the train stations, and matching the running mileage information with a linear kilometer post set determined as a linear running interval in an actual running circuit diagram of the target train to obtain a kilometer post matching result;
s103: after the kilometer sign matching result is displayed, stably judging the speed of the target train to obtain a stable judgment result;
s104: the stable judgment result shows that the wheel set diameter at the current moment is obtained after the corresponding effective vehicle speed and the effective motor rotating speed are calculated according to a wheel diameter estimation method;
s105: judging and testing the idle running and other wheel diameter mutation working conditions of the current wheel according to the diameter of the wheel pair to obtain a judgment and test result;
s106: screening out stable data without wheel diameter mutation in the judgment test result, calculating a wheel diameter difference according to the stable data, and storing the wheel diameter difference;
s107: and when the operation is finished, calculating the wheel diameter difference mean value of all the stored wheel diameter difference data, and outputting an alarm command when the wheel diameter difference mean value meets a preset alarm threshold value.
Further, the vehicle speed information and the motor shaft rotating speed information are acquired from a TCMS system and are independent of each other.
Further, the vehicle speed information and the motor shaft rotating speed information are acquired at regular intervals in 1-4S intervals.
Further, the process of establishing the linear kilometer sign set specifically includes:
acquiring an actual running circuit diagram of a target train;
determining a line with the minimum curve radius larger than a preset radius in an actual operation line graph as a straight line operation interval;
and integrating all the kilometers of the linear lines determined as the linear running interval to establish a linear kilometer scale set.
Further, the matching process of the operating mileage information and the linear kilometer post set specifically comprises:
fuzzy matching is carried out on the train station information and the running mileage to obtain the current kilometer post information of the target train; if similar mileage exists in a preset difference range, corresponding station mileage is prolonged and then matched;
if the kilometer sign matching result shows that: and if the current kilometer post information is in the linear kilometer post set, judging the stability of the vehicle speed.
Further, the vehicle speed stability judgment of the target train specifically comprises:
acquiring the latest N pieces of speed and motor speed data of the train;
carrying out steady inspection from the 2 nd data until the N-1 th data is inspected, outputting the vehicle speed and the motor rotating speed after all the data pass the steady inspection, and displaying a steady judgment result as pass;
the stability test specifically comprises the following steps:
wherein, v (i) and rev (i) respectively represent the recorded ith speed data and motor speed data, i is 2, 3.
Further, the specific calculation of the wheel pair diameter is as follows:
acquiring corresponding vehicle speed and motor rotating speed output after stable inspection as effective vehicle speed and effective motor rotating speed;
calculating the wheel pair diameter at the current moment according to a wheel diameter estimation method, wherein the specific calculation formula is as follows:
wherein pi is a circumferential rate, z is a transmission ratio, the unit of the effective vehicle speed v (i) is km/h, and the unit of the effective motor rotating speed rev (i) is r/s.
Further, the specific process of judging and checking the diameter of the wheel set comprises the following steps:
storing the calculated wheel pair diameter into a storage matrix Q;
and when the data quantity in the storage matrix Q is larger than a preset threshold value, performing 3-sigma test:
if mu-3 × sigma < Q (j) < mu +3 × sigma, Q (j) passes the test; wherein, Q (j) represents the jth wheel diameter data in the storage matrix Q, μ represents the mean value of all wheel diameters in the storage matrix Q, and σ represents the standard deviation of all wheel diameters in the storage matrix Q;
q (j) satisfying the 3-sigma test is saved, and Q (j) not satisfying is discarded.
Further, the calculation and storage of the wheel diameter difference specifically include: and respectively storing the wheel diameters corresponding to m axles of the target train in matrixes Q1 and Q2 … Qm, calculating wheel diameter differences by traversing the wheel diameters of all the axles of the target train, and storing the wheel diameter differences in the matrix P.
Further, the calculation and early warning of the wheel diameter difference mean value specifically include:
and (3) calculating the wheel diameter difference mean value of P when the daily operation is finished, wherein the wheel diameter difference mean value calculation formula is as follows:
wherein m represents the number of data in the matrix P, and P (k) represents the kth wheel diameter difference data in the matrix P;
and if the mean value of the wheel diameter difference of the same frame is greater than a first threshold value or the wheel diameter difference of the same frame is greater than a second threshold value, sending alarm information, wherein the second threshold value is greater than the first threshold value.
Compared with the prior art, the invention has the following beneficial effects:
according to the train wheel diameter difference detection and alarm diagnosis method based on the motor shaft rotation speed and the train speed, the wheel predicted diameter of the target shaft is obtained through the linear operation judgment, the stable judgment of the train speed and the wheel diameter estimation method of the target train, the effective wheel diameter of the target train is screened out according to the idle running and wheel diameter mutation working condition judgment, the wheel diameter difference is calculated, the wheel diameter difference mean value is calculated when the operation is finished, the alarm is carried out according to the threshold value, an additional detection device does not need to be additionally arranged on the track, the cost is low, and the structure is simple; the wheel diameter difference can be detected in real time without entering a maintenance warehouse, and the mobility is strong; the wheel diameter is directly obtained through the vehicle speed and the motor rotating speed, wheel set information does not need to be calibrated, and stability is high; on the premise that the vehicle speed is stable and reliable, the method can more accurately and stably detect the wheel diameter difference and give an alarm.
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The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a flow chart in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example (b): the train wheel diameter difference detection and alarm diagnosis method based on the motor shaft rotating speed and the train speed is specifically realized by the following steps as shown in figure 1.
Step one, obtaining the speed information of the target train at the current time and the rotating speed information of a motor shaft.
Selecting a certain type of locomotive power vehicle of a certain subway operation company, wherein the locomotive power vehicle comprises two bogies, each bogie comprises 2 shafts and 4 shafts in total, and the shafts are marked as 1 shaft, 2 shafts, 3 shafts and 4 shafts. The speed v of the train and the motor shaft rotating speeds rev1, rev2, rev3 and rev4 of 4 shafts which are independent of each other are obtained from the TCMS system. Since the wheel diameters of the 4 shafts are calculated in the same manner, only 1 shaft will be taken as an example for explanation.
In the present embodiment, the vehicle speed information and the motor shaft rotation speed information are acquired at regular intervals at intervals of 1-4S.
And step two, performing time integral processing on the running speed between the train stations according to the speed information to obtain running mileage information between the train stations, and matching the running mileage information with a linear kilometer post set which is determined as a linear running interval [ a1, a2] in an actual running circuit diagram of the target train to obtain a kilometer post matching result.
Because the contact between the wheel set tread and the track changes in the process of passing a curve of the train, the rolling circle of the wheel set is unstable in the running process of the train, and the finally calculated wheel diameter has larger deviation, a straight-line section with larger curve radius is selected for calculating the wheel diameter, and the more stable and accurate train wheel diameter is obtained.
The process of establishing the linear kilometer post set specifically comprises the following steps: acquiring an actual running circuit diagram of a target train; determining a line with the minimum curve radius larger than a preset radius in an actual operation line graph as a straight line operation interval; and integrating all the kilometers of the linear lines determined as the linear running interval to establish a linear kilometer scale set.
The matching process of the operating mileage information and the linear kilometer post set specifically comprises the following steps: fuzzy matching is carried out on the train station information and the running mileage to obtain the current kilometer post information of the target train; if similar mileage exists in a preset difference range, corresponding station mileage is prolonged and then matched; if the kilometer sign matching result shows that: and if the current kilometer post information is in the linear kilometer post set, judging the stability of the vehicle speed.
The set of linear kilometers posts may be represented as: h { [ a1, a2], [ a3, a4] … [ a (i), a (i +1) ] }.
The time integral processing calculation formula of the running mileage information is as follows:
and thirdly, displaying the kilometer post matching result, and then stably judging the speed of the target train to obtain a stable judgment result.
Because the system obtains the speed and the motor speed from the TCMS and has a certain time delay, when the train is in the process of acceleration or deceleration, the wheel diameter calculation error can be caused by the time delay difference between the speed and the motor speed of the target train, and therefore the time when the speed is relatively stable is selected for calculation; meanwhile, the train speed and the motor speed are not matched when the train wheel pair idles, the calculated wheel diameter is far smaller than the actual wheel diameter, and wheel pair idling often occurs in the processes of traction acceleration and braking deceleration, so that a relatively stable speed interval is required to be obtained for wheel diameter calculation.
Taking 5 data as an example, the speed stability judgment of the target train is specifically as follows: and acquiring the latest 5 pieces of speed and motor speed data of the 1 axle of the train. And (4) carrying out steady inspection from the 2 nd data until the 4 th data is inspected, outputting the vehicle speed and the motor rotating speed after all the data pass the steady inspection, and displaying a steady judgment result as passing.
The stability test specifically comprises the following steps:
v (i) and rev (i) respectively represent the recorded ith speed data and motor speed data, and i is 2, 3 and 4.
And fourthly, displaying the stable judgment result, and calculating the corresponding effective vehicle speed and the effective motor rotating speed according to a wheel diameter estimation method to obtain the wheel pair diameter at the current moment.
The specific calculation of wheel pair diameter is:
acquiring corresponding vehicle speed and motor rotating speed output after the stability test as effective vehicle speed v (3) and effective motor rotating speed rev1 (3);
calculating the wheel pair diameter at the current moment according to a wheel diameter estimation method, wherein the specific calculation formula is as follows:
wherein pi is a circumferential rate, z is a transmission ratio, the unit of the effective vehicle speed v (i) is km/h, and the unit of the effective motor rotating speed rev (i) is r/s.
And fifthly, judging and checking the idle running and other wheel diameter mutation working conditions of the current wheel according to the diameter of the wheel pair to obtain a judgment and check result.
The specific process of judging and checking the diameter of the wheel pair comprises the following steps: storing the calculated wheel pair diameter into a storage matrix Q; and when the data quantity in the storage matrix Q is larger than a preset threshold value, performing 3-sigma test: if mu-3 × sigma < Q (j) < mu +3 × sigma, Q (j) passes the test; wherein, Q (j) represents the jth wheel diameter data in the storage matrix Q, μ represents the mean value of all wheel diameters in the storage matrix Q, and σ represents the standard deviation of all wheel diameters in the storage matrix Q; q (j) satisfying the 3-sigma test is saved, and Q (j) not satisfying is discarded.
And step six, screening out stable data without wheel diameter mutation in the judgment and test result, calculating the wheel diameter difference according to the stable data and then storing the wheel diameter difference.
The calculation and storage of the wheel diameter difference specifically comprise the following steps: and respectively storing the wheel diameters corresponding to the 4 axles of the target train in matrixes Q1, Q2, Q3 and Q4, calculating the wheel diameter difference by traversing the wheel diameters of all the axles of the target train and storing the wheel diameter difference in the matrix P.
And step seven, calculating the wheel diameter difference mean value of all the stored wheel diameter difference data when the operation is finished, and outputting an alarm command when the wheel diameter difference mean value meets a preset alarm threshold value.
The calculation and early warning of the wheel diameter difference mean value are specifically as follows:
and (3) calculating the wheel diameter difference mean value of P when the daily operation is finished, wherein the wheel diameter difference mean value calculation formula is as follows:
wherein m represents the number of data in the matrix P, and P (k) represents the kth wheel diameter difference data in the matrix P;
and if the average value of the diameter difference of the wheels on the same frame is larger than 5mm or the diameter difference of the wheels on the same frame is larger than 10mm, sending alarm information.
The working principle is as follows: according to the method, the wheel predicted diameter of the target shaft is obtained through the straight line running judgment, the vehicle speed stability judgment and the wheel diameter estimation method of the train, the effective wheel diameter of the train is further screened out according to the idle running and wheel diameter mutation working condition judgment, the wheel diameter difference is calculated, the wheel diameter difference mean value is calculated when the operation is finished, and the alarm is given according to the threshold value.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The train wheel diameter difference detection and alarm diagnosis method based on the motor shaft rotating speed and the train speed is characterized by comprising the following steps of:
s101: acquiring the speed information of the current time of a target train and the rotating speed information of a motor shaft;
s102: performing time integral processing on the running speed between the train stations according to the speed information to obtain running mileage information between the train stations, and matching the running mileage information with a linear kilometer post set determined as a linear running interval in an actual running circuit diagram of the target train to obtain a kilometer post matching result;
s103: after the kilometer sign matching result is displayed, stably judging the speed of the target train to obtain a stable judgment result;
s104: the stable judgment result shows that the wheel set diameter at the current moment is obtained after the corresponding effective vehicle speed and the effective motor rotating speed are calculated according to a wheel diameter estimation method;
s105: judging and testing the idle running and other wheel diameter mutation working conditions of the current wheel according to the diameter of the wheel pair to obtain a judgment and test result;
s106: screening out stable data without wheel diameter mutation in the judgment test result, calculating a wheel diameter difference according to the stable data, and storing the wheel diameter difference;
s107: and when the operation is finished, calculating the wheel diameter difference mean value of all the stored wheel diameter difference data, and outputting an alarm command when the wheel diameter difference mean value meets a preset alarm threshold value.
2. The method for detecting and alarming the wheel diameter difference of the train based on the rotating speed of the motor shaft and the train speed as claimed in claim 1, wherein the train speed information and the rotating speed information of the motor shaft are obtained from a TCMS system, and the train speed information and the rotating speed information of the motor shaft are independent of each other.
3. The method for detecting and alarming the wheel diameter difference of the train based on the rotating speed of the motor shaft and the train speed as claimed in claim 1, wherein the train speed information and the rotating speed information of the motor shaft are acquired at regular intervals with the interval time of 1-4S.
4. The method for detecting and alarming the wheel diameter difference of the train based on the rotating speed and the vehicle speed of the motor shaft as claimed in claim 1, wherein the establishment process of the linear kilometer post set is as follows:
acquiring an actual running circuit diagram of a target train;
determining a line with the minimum curve radius larger than a preset radius in an actual operation line graph as a straight line operation interval;
and integrating all the kilometers of the linear lines determined as the linear running interval to establish a linear kilometer scale set.
5. The train wheel diameter difference detection and alarm diagnosis method based on motor shaft rotation speed and train speed as claimed in claim 1, wherein the matching process of the running mileage information and the linear kilometer post set specifically comprises:
fuzzy matching is carried out on the train station information and the running mileage to obtain the current kilometer post information of the target train; if similar mileage exists in a preset difference range, corresponding station mileage is prolonged and then matched;
if the kilometer sign matching result shows that: and if the current kilometer post information is in the linear kilometer post set, judging the stability of the vehicle speed.
6. The method for detecting and alarming the wheel diameter difference of the train based on the rotating speed of the motor shaft and the train speed according to any one of claims 1 to 5, wherein the stable judgment of the train speed of the target train is specifically as follows:
acquiring the latest N pieces of speed and motor speed data of the train;
carrying out steady inspection from the 2 nd data until the N-1 th data is inspected, outputting the vehicle speed and the motor rotating speed after all the data pass the steady inspection, and displaying a steady judgment result as pass;
the stability test specifically comprises the following steps:
wherein, v (i) and rev (i) respectively represent the recorded ith speed data and motor speed data, i is 2, 3.
7. The method for detecting and alarming the wheel diameter difference of the train based on the rotating speed of the motor shaft and the vehicle speed as claimed in claim 6, wherein the specific calculation of the wheel pair diameter is as follows:
acquiring corresponding vehicle speed and motor rotating speed output after stable inspection as effective vehicle speed and effective motor rotating speed;
calculating the wheel pair diameter at the current moment according to a wheel diameter estimation method, wherein the specific calculation formula is as follows:
wherein pi is a circumferential rate, z is a transmission ratio, the unit of the effective vehicle speed v (i) is km/h, and the unit of the effective motor rotating speed rev (i) is r/s.
8. The method for detecting and alarming the wheel diameter difference of the train based on the rotating speed of the motor shaft and the train speed as claimed in claim 7, wherein the specific process of judging and checking the wheel pair diameter is as follows:
storing the calculated wheel pair diameter into a storage matrix Q;
and when the data quantity in the storage matrix Q is larger than a preset threshold value, performing 3-sigma test:
if mu-3 × sigma < Q (j) < mu +3 × sigma, Q (j) passes the test; wherein, Q (j) represents the jth wheel diameter data in the storage matrix Q, μ represents the mean value of all wheel diameters in the storage matrix Q, and σ represents the standard deviation of all wheel diameters in the storage matrix Q;
q (j) satisfying the 3-sigma test is saved, and Q (j) not satisfying is discarded.
9. The method for detecting and alarming the wheel diameter difference of the train based on the rotating speed and the vehicle speed of the motor shaft as claimed in claim 8, wherein the calculation and the storage of the wheel diameter difference are specifically as follows: and respectively storing the wheel diameters corresponding to m axles of the target train in matrixes Q1, Q2 and … Qm, calculating wheel diameter differences by traversing the wheel diameters of all the axles of the target train and storing the wheel diameter differences in a matrix P.
10. The train wheel diameter difference detection and alarm diagnosis method based on motor shaft rotation speed and train speed as claimed in claim 9, wherein the calculation and early warning of the wheel diameter difference mean value specifically comprises:
and (3) calculating the wheel diameter difference mean value of P when the daily operation is finished, wherein the wheel diameter difference mean value calculation formula is as follows:
wherein m represents the number of data in the matrix P, and P (k) represents the kth wheel diameter difference data in the matrix P;
and if the mean value of the wheel diameter difference of the same frame is greater than a first threshold value or the wheel diameter difference of the same frame is greater than a second threshold value, sending alarm information, wherein the second threshold value is greater than the first threshold value.
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| CN114312701A (en) * | 2021-12-08 | 2022-04-12 | 赛宝创新(重庆)科技有限公司 | Unmanned locomotive state detection method and device |
| CN114486304A (en) * | 2022-01-30 | 2022-05-13 | 中国铁道科学研究院集团有限公司 | Method and device for tracking rotating part based on rolling stock |
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| CN114486304A (en) * | 2022-01-30 | 2022-05-13 | 中国铁道科学研究院集团有限公司 | Method and device for tracking rotating part based on rolling stock |
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