CN114701533A - Steering error calibration control method applied to multi-connecting-rod type active radial bogie - Google Patents

Abstract

The invention discloses a steering error calibration control method applied to a multi-link active radial bogie, which includes the following process: when a train starts to enter a turning track, a central controller sends a steering command to a servo electric push rod, so that the The servo electric push rod drives the action of the multi-link transmission mechanism, which drives the wheelset to deflect with the centerline of the two wheelsets and the center of the track circle as the radial steering center. The central controller collects the actual deflection angle of the wheelset in real time through the axle box displacement sensor, and according to the The deviation between the actual deflection angle and the expected deflection angle is compensated and adjusted in real time. The present invention greatly reduces the cost of the bogie transformation, while effectively reducing the wear of the wheel and rail, reducing the wear of the wheelset, improving the precision and real-time performance of the active steering, and at the same time ensuring the stability of the train operation and ensuring the steering function of the active radial bogie. Accuracy and reliability.

Description

Steering error calibration control method applied to multi-link active radial bogie

technical field

The invention relates to the technical field of bogies, in particular to a steering error calibration control method applied to a multi-link active radial bogie.

Background technique

With the increasing speed of railway vehicles and the increasing weight of transportation, the running stability, radial steering ability and ride comfort of the vehicles will deteriorate, which will lead to rail wear and wheel damage. Over the years, some scholars have proposed and designed radial bogies to solve the conflict between curve passing performance and running stability, and reduce wheel and rail wear. Therefore, the concept of active radial bogie is proposed, which can realize autonomous radial steering when running on curved track, improve the curve passing performance, reduce the rigid impact of wheels and rails, and help reduce wheel-rail wear and wheel damage. , prolong the life of the wheelset. However, the current active radial bogie is still very rare in the application of railway vehicles, because of the difficulty of control, the difficulty of implementation and the high cost of transformation. A multi-link mechanism suitable for the bogie can greatly reduce the cost, but due to the assembly gap or deformation of the multi-link mechanism, the left and right steering mechanisms are easily out of sync. The control method of the multi-link active radial bogie will greatly reduce the cost of the bogie transformation and at the same time ensure the steering accuracy, which will be of great significance.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a steering error calibration control method applied to a multi-link active radial bogie in view of the above-mentioned defects in the prior art, which is effective while greatly reducing the cost of the bogie transformation. Reduce the wear of the wheel and rail, reduce the wear of the wheelset, improve the accuracy and real-time performance of the active steering, and at the same time ensure the stability of the train operation and the accuracy and reliability of the steering function of the active radial bogie.

The technical scheme adopted by the present invention for solving the above-mentioned technical problems is:

A steering error calibration control method applied to a multi-link active radial bogie, the multi-link active radial bogie comprises a multi-link transmission mechanism arranged on the bogie, a central control including a steering error calibration function two sets of multi-link transmission mechanism and servo electric push rod are respectively arranged on both sides of the bogie, the servo electric push rod is connected with the multi-link transmission mechanism on the same side, and the multi-link transmission mechanism The rod transmission mechanism is connected with the bogie wheel to the axle box on the corresponding side, and the central controller is respectively connected with the servo electric push rod and the axle box displacement sensor;

The steering error calibration control method includes the following specific process: when the train starts to enter the turning track, the central controller sends a steering command to the servo electric push rod, so that the servo electric push rod drives the action of the multi-link transmission mechanism to drive the wheelset. Taking the centerline of the two wheelsets and the center of the track circle as the radial steering center, the deflection occurs. The central controller collects the actual deflection angle of the wheelset in real time through the axle box displacement sensor, and performs real-time compensation and adjustment according to the deviation between the actual deflection angle and the expected deflection angle.

According to the above technical solution, the servo electric push rod is provided with a pulse encoder, the central controller is connected to the pulse encoder, reads the data of the pulse encoder, and calculates the actual elongation of the two sets of servo electric push rods in real time according to the read data. quantity;

The central controller can read the data from the axle box displacement sensor and calculate the actual declination angle of the wheelset in real time.

According to the above technical solution, the central controller includes a data processing module, a steering error calibration control module and a control processing module. The output end of the control processing module is connected to the servo electric push rod, and the input end of the data processing module is connected to the servo electric push rod and the axle box. The displacement sensor is connected, and the output end of the data processing module is connected with the input end of the control processing module through the steering error calibration control module.

According to the above technical solution, the steering error calibration control module uses the fuzzy PID algorithm to calculate the deviation.

According to the above technical solution, the multi-link transmission mechanism includes a driving link, a steering arm, a front wheel steering link, a rear wheel steering link and a swivel joint, the axles of the front and rear wheels are connected to the bogie through the axle box, and the steering arm There is a swivel joint on it, the steering arm is set on the bogie through the slewing joint, and rotates around the slewing joint. The other end of the turning arm is hinged with one end of the rear wheel steering link, the other end of the rear wheel steering link is connected with the axle box of the rear wheel, one end of the front wheel steering link is connected with the axle box of the front wheel, and the front wheel steering link is connected with the axle box of the front wheel. The other end of the rod is hingedly connected with the middle end of the steering arm.

According to the above technical solution, the servo electric push rod is arranged above the axle box, the upper end of the steering arm is connected with the drive link, the middle end is connected with the front wheel steering link, and the lower end is connected with the rear wheel steering link;

The servo electric push rod in one multi-link transmission mechanism is arranged above the axle box of the front wheel, and the servo electric push rod in the other multi-link transmission mechanism is arranged above the axle box of the rear wheel.

According to the above technical solution, the lengths of the front wheel steering link and the rear wheel steering link are equal;

The swivel joint is located at the intersection of the front and rear wheel axle centers and the steering arm, and is located at the center of the end point connected with the front wheel steering link and the end point connected with the rear wheel steering link.

According to the above technical solution, the servo electric push rod includes a motor, a gear box and a lead screw, the output end of the motor is connected with the lead screw through the gear box, and the lead screw is connected with the drive link of the multi-link transmission mechanism.

According to the above technical solution, the specific process of the steering error calibration control method includes the following steps:

S1. The central controller receives the steering command from the external host computer;

S2. The control processing module sends out control commands to control the actuation of the servo electric push rods on both sides of the bogie;

S3. The servo electric push rod is actuated to drive the drive link to force the steering arm to deflect, thereby driving the steering link to push or pull the wheelset;

S4. The central controller reads the data of the pulse encoder on the servo electric push rod, and calculates the telescopic displacement of the servo electric push rod;

S5. The central controller reads the data of the axle box displacement sensor, and calculates the actual wheelset deflection angle;

S6. The central processing unit checks the actual wheelset declination angle and the expected wheelset declination angle. When there is a deviation, the control parameters are calculated by the fuzzy PID algorithm. Drive the bogie multi-link transmission mechanism to make adjustment actions to deflect the wheelset to ensure that the wheelset is in the radial position;

S7. Repeat the above steps 4 to 6 until the deviation disappears, and the actual wheelset declination angle is equal to the expected wheelset declination angle.

According to the above technical solution, the following steps are included after the step S7: S8, when the central controller receives the steering command sent by the upper computer again, repeat the process of 1 to 7 above, thus forming a complete control process, realizing The active radial steering of the active radial bogie is adopted, and the problem that the left and right steering mechanisms are not synchronized due to the assembly gap or deformation of the multi-link mechanism during the execution of the steering command of the left and right radial steering mechanisms of the bogie is eliminated.

The present invention has the following beneficial effects:

The invention can realize the real-time detection of the operation of the servo electric push rod and the deflection of the wheelset, and carry out compensation control to ensure that the wheelset is in the radial position, and eliminate the multi-connection of the left and right radial steering mechanisms of the bogie during the execution of the steering command. The problem that the left and right multi-link transmission mechanisms are out of synchronization caused by the assembly gap or deformation of the rod transmission mechanism, realizes active radial steering, greatly reduces the cost of bogie transformation, and effectively reduces the wear of the wheel and rail, reduces the wear of the wheelset, and improves the The accuracy and real-time performance of active steering, while ensuring the stability of train operation, the central controller detects the actual elongation of the servo electric push rod in real time, and collects the actual deflection angle of the wheelset in real time through the axle box displacement sensor, and according to the actual deflection The deviation between the angle and the expected deflection angle is adjusted in real time. After calculation by the steering error calibration control module, the electric push rod is driven to make an adjustment action to eliminate the multi-link mechanism assembly of the left and right radial steering mechanisms of the bogie during the execution of the steering command. The problem of asynchrony between the left and right steering mechanisms caused by clearance or deformation ensures the accuracy and reliability of the steering function of the active radial bogie.

Description of drawings

1 is a perspective view of a multi-link active radial bogie in an embodiment of the present invention;

2 is a front view of a multi-link active radial bogie in an embodiment of the present invention;

3 is a schematic structural diagram of a servo electric push rod in an embodiment of the present invention;

Fig. 4 is the control flow chart of the multi-link active radial bogie in the embodiment of the present invention;

In the figure, 1-multi-link transmission mechanism, 2-central controller, 3-servo electric push rod, 4-axle box displacement sensor, 5-drive link, 6-steering arm, 7-front wheel steering link , 8-rear wheel steering link, 9-roller screw, 10-pulse encoder, 11-gear box, 12-motor.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

Referring to FIGS. 1 to 4 , an embodiment of the present invention provides a steering error calibration control method applied to a multi-link active radial bogie. The multi-link active radial bogie includes a Active radial steering multi-link transmission mechanism on the bogie 1, central controller with steering error calibration function 2, servo electric push rod 3 and axle box displacement sensor 4, multi-link transmission mechanism 1 and servo electric push rod 3 Two sets of each are arranged on both sides of the bogie, and the servo electric push rod 3 is connected to the multi-link transmission mechanism 1 on the same side (that is, the two sides of the bogie are provided with a multi-link transmission mechanism 1 and a servo electric push rod 3) , the multi-link transmission mechanism 1 is connected with the bogie wheel to the axle box on the corresponding side, and the central controller 2 is respectively connected with the servo electric push rod 3 and the axle box displacement sensor 4;

The steering error calibration control method includes the following specific process: when the train starts to enter the turning track, the central controller 2 sends a steering command to the servo electric push rod 3, so that the servo electric push rod 3 drives the multi-link transmission mechanism 1 to act. , drive the wheelset to deflect with the centerline of the two wheelsets and the center of the track circle as the radial steering center, so as to realize the radial steering function. The actual deflection angle of the wheelset is collected in real time, and the real-time adjustment is made according to the deviation between the actual deflection angle and the expected deflection angle. After calculation by the steering error calibration control module, the electric push rod is driven to make adjustment actions to eliminate the left and right radial steering of the bogie. When the mechanism executes the steering command, the left and right steering mechanisms are out of synchronization due to the assembly gap or deformation of the multi-link mechanism, which ensures the accuracy and reliability of the steering function of the active radial bogie.

Further, the servo electric push rod 3 is provided with a pulse encoder, the central controller 2 is connected with the pulse encoder, reads the data of the pulse encoder, and calculates two sets of servo electric pushers in real time according to the read data through the built-in model. The actual elongation of rod 3;

The central controller 2 can read the data of the four axle box displacement sensors, and calculate the actual deflection angle of the wheelset in real time through the built-in model.

Further, the number of axle box displacement sensors is 4, which are arranged on the axle boxes of the front and rear pairs of wheels, and two axle boxes are provided at both ends of the axle of one pair of wheels.

Further, the central controller 2 includes a data processing module, a steering error calibration control module and a control processing module, the output end of the control processing module is connected with the servo electric push rod 3, and the input end of the data processing module is connected with the servo electric push rod 3 and the shaft. The box displacement sensor 4 is connected, and the output end of the data processing module is connected with the input end of the control processing module through the steering error calibration control module; the input end of the control processing module can also accept external steering signals, and the steering error calibration control module can be based on the data processing module. The transmitted data is operated, and the result is fed back to the control processing module, which sends out control commands to make the servo electric push rod 3 act.

Further, the steering error calibration control module uses the fuzzy PID algorithm to calculate the deviation.

Further, the multi-link transmission mechanism 1 includes a drive link, a steering arm, a front wheel steering link, a rear wheel steering link and a swivel joint, the axles of the front and rear wheels are connected to the bogie through the axle box, and the steering arm is connected to the bogie. There is a swivel joint, the steering arm is set on the bogie through the slewing joint, and rotates around the slewing joint. The other end of the rotating arm is hinged with one end of the rear wheel steering link, the other end of the rear wheel steering link is connected with the axle box of the rear wheel, one end of the front wheel steering link is connected with the axle box of the front wheel, and the front wheel steering link is connected with the axle box of the front wheel. The other end of the rod is hingedly connected with the middle end of the steering arm; when the train is about to enter the curve, the central controller sends an instruction to make the servo electric push rod 3 work, and the servo electric push rod 3 drives the drive link to move, and the drive link The rod then drives the steering arm to move, and finally the steering arm drives the steering link to move, so that the wheelset is angularly offset in the axle box, so as to obtain a better curve fit rate and realize active steering.

Further, the servo electric push rod 3 is arranged above the axle box, the upper end of the steering arm is connected with the drive link, the middle end is connected with the front wheel steering link, and the lower end is connected with the rear wheel steering link;

The servo electric push rod 3 in one multi-link transmission mechanism 1 is arranged above the axle box of the front wheel, and the servo electric push rod 3 in the other multi-link transmission mechanism 1 is arranged above the axle box of the rear wheel.

Further, between the steering link and the axle box, between the steering arm and the steering link, between the steering arm and the drive link, and between the drive link and the servo electric push rod are all articulated by a universal joint.

Further, the lengths of the front wheel steering link and the rear wheel steering link are equal;

The swivel joint is located at the intersection of the front and rear wheel axle centers and the steering arm, and is located at the center of the end point connected with the front wheel steering link and the end point connected with the rear wheel steering link.

Further, two multi-link transmission mechanisms 1 are installed on both sides of the bogie, and are mirror-symmetrical on the sagittal plane of the bogie, and each multi-link transmission mechanism 1 is individually connected to the corresponding servo electric push rod 3 .

Further, the servo electric push rod includes a motor 12, a gear box 11 and a lead screw 9, the output end of the motor 12 is connected with the lead screw 9 through the gear box 11, and the lead screw is connected with the drive link of the multi-link transmission mechanism 1; The box 11 is a reduction gear box, the lead screw 9 is a roller screw mechanism, and a pulse encoder 10 is provided on the motor.

The specific process of the steering error calibration control method includes the following steps:

S1. The central controller 2 receives the steering command sent by the external host computer;

S2. The control processing module sends out control commands to control the actuation of the servo electric push rods 3 on both sides of the bogie;

S3. The servo electric push rod 3 is actuated to drive the drive link 5 to force the steering arm 6 to deflect, thereby driving the steering link 7 to push or pull the wheelset;

S4. The data processing module of the central controller 2 reads the data of the pulse encoder on the servo electric push rod, and obtains the telescopic displacement amount of the servo electric push rod 3 through the calculation through the built-in model;

S5. The data processing module of the central controller 2 reads the data of the axle box displacement sensor 4, and calculates the actual wheelset deflection angle through the built-in model;

S6. The built-in steering error calibration module of the central processing unit calibrates the actual wheelset declination angle and the expected wheelset declination angle. When there is a deviation, the control parameters are calculated by the fuzzy PID algorithm, and the control processing unit of the central processing unit sends out the control parameters according to the control parameters. The control command makes the servo electric push rod 3 actuate, and drives the bogie multi-link transmission mechanism 1 to make an adjustment action, so that the wheelset is deflected to ensure that the wheelset is in the radial position;

S7. Repeat the above steps 4 to 6 until the deviation disappears, and the actual wheelset declination angle is equal to the expected wheelset declination angle.

After the step S7, the following steps are also included: S8, when the central controller 2 receives the steering command sent by the upper computer again, and repeats the processes 1 to 7 above, thus forming a complete control process and realizing the active radial direction The active radial steering of the bogie eliminates the problem of asynchrony between the left and right steering mechanisms caused by the assembly gap or deformation of the multi-link mechanism during the execution of the steering command.

Further, during the turning process of the train, the multi-link structures on both sides work together, the steering arms of the front and rear wheels on the same side move the same distance in opposite directions, and the axle angles are continuously adjusted so that the extension lines of the front and rear axles intersect at the center of the curved track. , so as to improve the track curve fitting rate when the train turns, and achieve the best turning effect.

In the step S3, the servo electric push rod 3 located on the inner side of the bogie is pushed outward, so that the front end of the front wheel steering link and the rear end of the rear wheel steering link in the multi-link transmission mechanism 1 on the same side are inward Pulling, the driving wheel sets are angularly offset in the axle box, the inner wheel track is reduced, and the multi-link transmission mechanism 1 located on the outside of the bogie performs the opposite movement, so that the outer wheel track increases.

To sum up, the present invention provides an active radial bogie and an active steering control method thereof. Compared with the prior art, the design is reasonable, simple and practical; The displacement sensor detects the displacement of the wheelset and feeds it back to the central processing unit, which can realize the real-time detection of the declination of the wheelset. The fuzzy PID controller controls the motor to rotate again according to the deviation, and then pushes or pulls the wheelset to ensure that the wheelset is in the radial direction. The position is not easily affected by external factors, and the stability is strong; the drive link is driven by the actuation of the servo electric push rod to force the steering arm to deflect to drive the steering link to push or pull the wheel set to deflect the wheel set. The structure is simple, The response speed is improved and the control is easy, which can effectively reduce wheel and rail wear.

The above are only the preferred embodiments of the present invention, of course, the scope of the rights of the present invention cannot be limited by this, so the equivalent changes made according to the scope of the patent application of the present invention still belong to the protection scope of the present invention.

Claims (10)

1. a steering error calibration control method applied to a multi-link type active radial bogie, is characterized in that, the multi-link type active radial truck comprises a multi-link transmission mechanism (1) arranged on the bogie , central controller (2), servo electric push rod (3) and axle box displacement sensor (4), two sets of multi-link transmission mechanism (1) and servo electric push rod (3) are arranged on both sides of the bogie respectively , the servo electric push rod (3) is connected with the multi-link transmission mechanism (1) on the same side, the multi-link transmission mechanism (1) is connected with the bogie wheel-to-axle box on the corresponding side, and the central controller (2) is respectively connected with The servo electric push rod (3) is connected with the axle box displacement sensor (4); The steering error calibration control method includes the following specific process: when the train starts to enter the turning track, the central controller (2) sends a steering command to the servo electric push rod (3), so that the servo electric push rod (3) drives more The connecting rod transmission mechanism (1) acts to drive the wheelset to deflect with the centerline of the two wheelsets and the center of the track circle as the radial steering center. The central controller (2) collects the actual deflection angle of the wheelset in real time through the axle box displacement sensor (4). , and perform real-time compensation adjustment according to the deviation between the actual deflection angle and the expected deflection angle. 2. the steering error calibration control method applied to the multi-link type active radial bogie according to claim 1 is characterized in that, the servo electric push rod (3) is provided with a pulse encoder, and the central controller (2 ) is connected to the pulse encoder, reads the data of the pulse encoder, and calculates the actual elongation of the two sets of servo electric push rods (3) in real time according to the read data; The central controller (2) can read the data of the axle box displacement sensor and calculate the actual declination angle of the wheelset in real time. 3. The steering error calibration control method applied to a multi-link active radial bogie according to claim 1, wherein the central controller (2) comprises a data processing module, a steering error calibration control module and a control process module, the output end of the control processing module is connected with the servo electric push rod (3), the input end of the data processing module is connected with the servo electric push rod (3) and the axle box displacement sensor (4), and the output end of the data processing module is steered The error calibration control module is connected with the input end of the control processing module. 4 . The steering error calibration control method applied to a multi-link active radial bogie according to claim 3 , wherein the steering error calibration control module uses a fuzzy PID algorithm to calculate the deviation. 5 . 5. The steering error calibration control method applied to a multi-link active radial bogie according to claim 1, wherein the multi-link transmission mechanism (1) comprises a drive link, a steering arm, a front wheel Steering link, rear wheel steering link and swivel joint, the axles of the front and rear wheels are connected to the bogie through the axle box, the steering arm is provided with a swivel joint, and the steering arm is set on the bogie through the swivel joint, and the slewing joint is arranged around the slewing joint. Turn, one end of the steering arm is hinged with one end of the drive link, the other end of the drive link is connected with the servo electric push rod (3), the other end of the steering arm is hinged with one end of the rear wheel steering link, and the rear wheel is turned The other end of the connecting rod is connected with the axle box of the rear wheel, one end of the steering link of the front wheel is connected with the axle box of the front wheel, and the other end of the steering link of the front wheel is hingedly connected with the middle end of the steering arm. 6. The steering error calibration control method applied to a multi-link active radial bogie according to claim 5, wherein the servo electric push rod (3) is arranged above the axle box, and the upper end of the steering arm is connected to the drive The connecting rod is connected, the middle end is connected with the front wheel steering connecting rod, and the lower end is connected with the rear wheel steering connecting rod; The servo electric push rod (3) in one multi-link transmission mechanism (1) is arranged above the axle box of the front wheel, and the servo electric push rod (3) in the other multi-link transmission mechanism (1) is arranged at the rear wheel above the axle box. 7. The steering error calibration control method applied to a multi-link active radial bogie according to claim 5, wherein the lengths of the front wheel steering link and the rear wheel steering link are equal; The swivel joint is located at the intersection of the front and rear wheel axle centers and the steering arm, and is located at the center of the end point connected with the front wheel steering link and the end point connected with the rear wheel steering link. 8. The steering error calibration control method applied to a multi-link active radial bogie according to claim 1, wherein the servo electric push rod comprises a motor (12), a gear box (11) and a lead screw ( 9), the output end of the motor (12) is connected with the lead screw (9) through the gear box (11), and the lead screw is connected with the driving link of the multi-link transmission mechanism (1). 9. The steering error calibration control method applied to a multi-link active radial bogie according to claim 5, wherein the specific process of the steering error calibration control method comprises the following steps: S1. The central controller (2) receives the steering command sent by the external host computer; S2. The control processing module sends out control commands to control the actuation of the servo electric push rods (3) on both sides of the bogie; S3. The servo electric push rod (3) is actuated to drive the drive link (5) to force the steering arm (6) to deflect, thereby driving the steering link (7) to push or pull the wheelset; S4, the central controller (2) reads the data of the pulse encoder on the servo electric push rod, and obtains the telescopic displacement of the servo electric push rod (3) by calculation; S5. The central controller (2) reads the data of the axle box displacement sensor (4), and calculates the actual wheelset deflection angle; S6. The central processing unit checks the actual wheelset declination angle and the expected wheelset declination angle. When there is a deviation, the control parameters are calculated by the fuzzy PID algorithm. Actuation, drive the bogie multi-link transmission mechanism (1) to make adjustment action, deflect the wheelset, and ensure that the wheelset is in the radial position; S7. Repeat the above steps 4 to 6 until the deviation disappears, and the actual wheelset declination angle is equal to the expected wheelset declination angle. 10. The steering error calibration control method applied to a multi-link active radial bogie according to claim 9, characterized in that, after the step S7, the method further comprises the following steps: S8, when the central controller ( 2) Receive the steering command from the upper computer again, and repeat the above process 1 to 7, which constitutes a complete control process, realizes the active radial steering of the active radial bogie, and eliminates the two sets of radial steering on the left and right sides of the bogie. When the mechanism executes the steering command, the left and right steering mechanisms are out of sync due to the assembly gap or deformation of the multi-link mechanism.

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