CN115257857A - Rail surface triangular pit identification method based on inertia principle - Google Patents
Rail surface triangular pit identification method based on inertia principle Download PDFInfo
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- CN115257857A CN115257857A CN202211189440.7A CN202211189440A CN115257857A CN 115257857 A CN115257857 A CN 115257857A CN 202211189440 A CN202211189440 A CN 202211189440A CN 115257857 A CN115257857 A CN 115257857A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
Abstract
The invention discloses a rail surface triangular pit identification method based on an inertia principle. First, the vertical irregularity of the left and right rail surfaces is identified from the axle box acceleration signals based on the inertial principle. Then, the triangular pit center position is accurately positioned from the unsmooth data by using a square envelope algorithm. Finally, the validity of the proposed triangular pit detection method is verified through experimental data. The method realizes the identification of key parameters of the rail surface triangular pit, such as the position, the base length, the amplitude and the like of the triangular pit, and is suitable for carrying detection equipment on an operating vehicle so as to realize intelligent detection and early warning of the triangular pit.
Description
Technical Field
The invention belongs to the technical field of rail surface detection, and particularly relates to a rail surface triangular pit identification method based on an inertia principle.
Background
The acting force of the train acting on the wheel rail can be changed suddenly when the train passes through the rail surface triangular pit, so that the side rolling and the transverse rolling of the train are caused, the severe overrun triangular pit can lead the bogie to be in a severe state that one wheel is supported by three wheels for suspension, the risks of train overturning, derailment and the like can be greatly aggravated, and the serious challenge to the train running safety is realized. Therefore, it is necessary to perform a normalized monitoring of the triangular pits on the track surface of the operation line, find out the overrun sections in time and correct and improve the overrun sections so as to ensure the track health and guarantee the transportation safety of the heavy-duty train.
In the existing rail surface triangular pit detection method, the existing technical means mainly comprise static detection based on manual work and dynamic detection based on a rail detection vehicle. Track inspection appearance and gaging rule are manual measurement's major tool, have an advantage to detect the precision higher, but still have detection efficiency low and consume a large amount of manpower and materials, need occupy disadvantages such as train operation time. The conventional dynamic detection mainly adopts a track detection vehicle or a comprehensive detection train, overcomes the defect that a static detection method consumes manpower and material resources, has high use cost, is not suitable for frequent measurement of high-density lines, and still hardly meets the normalized detection requirement of a rail surface triangular pit. In summary, the conventional rail static and dynamic detection methods are difficult to meet the requirement of quickly, accurately and timely evaluating the state of the rail surface triangular pit. Therefore, the method is a main research direction of the triangular pit detection technology of the future track surface by installing a detection device on an operating vehicle, acquiring a dynamic response signal of a key part of the vehicle and developing a corresponding detection algorithm.
Disclosure of Invention
In order to overcome the defects, the rail surface triangular pit identification method based on the inertia principle is provided, the position of the rail surface triangular pit can be identified by measuring an axle box acceleration signal and based on the inertia principle and a signal square envelope calculation method, the rail surface triangular pit identification method has the advantages of high precision, difficulty in being influenced by the environment and the like, and can provide a basis for judging whether the rail needs to be maintained and improve the detection efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that: the rail surface triangular pit identification method based on the inertia principle is provided. The method comprises the following steps:
step 1) signal acquisition: collecting vertical acceleration signals of a shaft box on the left side and the right side of a vehicle;
step 2) data preprocessing: denoising the signal by using a low-pass filter and rejecting abnormal monitoring data;
step 3) analyzing the vibration signal based on the inertia principle:
step 3.1) carrying out secondary integration on the preprocessed acceleration signal by using an integration filter to obtain a rail surface vertical displacement fluctuation signal;
step 3.2) removing a trend term generated after integration by adopting a least square method to obtain vertical irregularity of the rail surface;
step 4) processing by using a square envelope algorithm to obtain square envelope signals with vertical irregularity of the rail surface;
step 5) positioning the triangular pit of the rail surface according to the square envelope signal of the vertical irregularity of the rail surface;
and 6) respectively determining the base length and the amplitude of the triangular pits of the left and right rail surfaces according to the positions of the triangular pits of the rail surfaces.
According to the invention, the preferable technical scheme of the rail surface triangular pit identification method based on the inertia principle is as follows: acceleration sensors are mounted on left and right axle boxes of a bogie to obtain acceleration signals.
According to the invention, the rail surface triangular pit identification method based on the inertia principle further adopts the preferable technical scheme that: the low-pass filter is used for removing high-frequency noise interference in the monitoring signals and simultaneously removing abnormal monitoring signals caused by sensor defects and the external environment.
According to the invention, the preferable technical scheme of the rail surface triangular pit identification method based on the inertia principle is as follows: second integration in step 3), as shown in the following formula:
from the integral definition, one can derive:
from (1) and (2) can be obtained:
at this time, the transfer function of the quadratic integration filter
Comprises the following steps:
in the above formulas (1) to (4)
Indicating the value of the vertical displacement of the axle housing,
presentation pair
The derivative is taken as a function of the time,
is composed of
And
at time points in between, z is the z transform operator, and n represents the axle box acceleration sampling point.
According to the invention, the preferable technical scheme of the rail surface triangular pit identification method based on the inertia principle is as follows: as can be seen from equation (4), the integral filter is easy to produce integral saturation for the low-frequency trend signal, and the low-frequency trend after integration is removed by using the least square method, as shown in the following equation:
from the least squares criterion, then:
in the above formulas (5) to (6)
Fitting a function for the trend term
、 
… 
Are the coefficients of the fitting function and,Qit is shown that the sum of the squared errors is minimized,
after integration of acceleration
The displacement signal of (a).
According to the invention, the rail surface triangular pit identification method based on the inertia principle further adopts the preferable technical scheme that: step 4), square envelope algorithm processing is as follows:
when a vehicle passes through the triangular pit on the rail surface, transient impact can be generated, and instantaneous energy of a vibration signal is causedDetecting track irregularity signals using a squared envelope algorithm
Instantaneous energy fluctuation in the time domain, for a length ofNZero mean filtered signal of
Of its squared envelope signal
Expressed as:
in the formula
For Hilbert transform, j =
。
According to the invention, the preferable technical scheme of the rail surface triangular pit identification method based on the inertia principle is as follows: in the step 5), the peak value of the square envelope signal represents the characteristic mutation position of the signal to be detected, namely the position of the track surface triangular pit in the corresponding line of the peak value of the square envelope signal curve, the mutation position of the square envelope signal is detected, and the left track surface triangular pit and the right track surface triangular pit are positioned according to the peak value of the unsmooth envelope curve.
According to the invention, the preferable technical scheme of the rail surface triangular pit identification method based on the inertia principle is as follows: and 6) identifying the basic parameter base length and amplitude of the triangular pit according to the positioning information of the triangular pit and by combining the vertical irregularity of the rail surface obtained by calculation in the step 3), so that the damage degree of the triangular pit can be determined, and a reference basis is provided for field maintenance.
According to the invention, the preferable technical scheme of the rail surface triangular pit identification method based on the inertia principle is as follows: in the step 1), the sampling frequency of the vertical acceleration signals of the axle boxes is required to be more than 500Hz, and the running speed of the vehicle is required to be less than 80km/h.
According to the method, the freight car C80 operated in China is used as a research object, a vehicle dynamics model is built, and rail surface triangular pit detection is realized based on axle box acceleration. According to the method, vertical irregularity of the steel rail is recognized from an axle box acceleration signal based on an inertia principle, and then triangular pits contained in the vertical irregularity are positioned by utilizing a square envelope algorithm, so that a theoretical basis is provided for the research of a triangular pit dynamic detection method based on an operating vehicle.
Compared with the prior art, the technical scheme of the invention has the following advantages/beneficial effects:
1. the data used for detection in the invention is derived from the vertical acceleration of axle boxes on two sides of the vehicle, the vibration signal of the position is a common measuring point for experiments or researches, and the signal source is easy to obtain.
2. The invention uses the quadratic integral filter to carry out integral operation on the acceleration signal of the axle box, has more advantages in the aspect of continuous calculation than the common time domain integral method and frequency integral method, and ensures that the effect of the inertia method is better.
3. The effective signal initial characteristic fluctuation occurrence position processed by the inertia principle is picked up by utilizing the square envelope algorithm, the result shows that the area generated by the triangular pit can be identified through the rugged square envelope curve, and meanwhile, the peak value of the rugged square envelope signal curve can provide reference basis for the identification of the triangular pit and the establishment of the early warning threshold value.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a rail surface triangular pit recognition method based on an inertia principle in an embodiment of the present invention.
Fig. 2 is a schematic view of a land triangular pit.
FIG. 3 is a left side axlebox acceleration signal for a vehicle in accordance with an embodiment of the present invention.
FIG. 4 is a right side axlebox acceleration signal for a vehicle in accordance with an embodiment of the present invention.
FIG. 5 is a diagram illustrating a left rail vertical irregularity recognition result according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating a right rail vertical irregularity recognition result according to an embodiment of the present invention.
Fig. 7 is a square envelope peak curve of the left rail surface irregularity in the embodiment of the present invention.
Fig. 8 is a square envelope peak curve of the unevenness of the right rail surface in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the detailed description of the embodiments of the present invention provided below is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention.
Example (b):
as shown in FIG. 1, a method for identifying a triangular pit on a rail surface based on the principle of inertia. The method comprises the following steps:
step 1) signal acquisition: collecting vertical acceleration signals of a shaft box on the left side and the right side of a vehicle;
step 2) data preprocessing: denoising the signal by using a low-pass filter and removing abnormal monitoring data;
step 3) analyzing the vibration signal based on the inertia principle:
step 3.1) carrying out secondary integration on the preprocessed acceleration signal by using an integration filter to obtain a rail surface vertical displacement fluctuation signal;
step 3.2) removing a trend term generated after integration by adopting a least square method to obtain vertical irregularity of the rail surface;
step 4) processing by using a square envelope algorithm to obtain a square envelope signal with a vertically unsmooth rail surface;
step 5) positioning the triangular pit of the rail surface according to the square envelope signal of the vertical irregularity of the rail surface;
and 6) respectively determining the base length and the amplitude of the triangular pits of the left and right rail surfaces according to the positions of the triangular pits of the rail surfaces.
The acceleration sensors are arranged on the left axle box and the right axle box of the bogie to obtain acceleration signals, of course, the method is only suitable for adopting the acceleration signals of the axle boxes, and does not represent that the method can not adopt the acceleration signals of other places to identify the triangular pit on the rail surface, and the method can be used only by adaptively adjusting other acceleration signals.
The low-pass filter is used for removing high-frequency noise interference in the monitoring signals and simultaneously removing abnormal monitoring signals caused by sensor defects and external environments, and certainly, if other abnormal monitoring signals exist, the abnormal monitoring signals can also be removed through the filter.
Second integration in step 3), as shown in the following formula:
from the integral definition, we can:
from (1) and (2) can be obtained:
at this time, the transfer function of the quadratic integration filter
Comprises the following steps:
in the above formulas (1) to (4)
Indicating the value of the vertical displacement of the axle housing,
presentation pair
The derivative is taken as a function of the time,
is composed of
And
the time points of the interval, z is a z transformation operator, n represents an axle box acceleration sampling point, and the sampling point refers to the serial number (serial number) of the circumferential acceleration sampling point.
As can be seen from equation (4), the integrating filter is easy to generate integral saturation for the low-frequency trend signal, and the low-frequency trend after integration is removed by using the least square method, as shown in the following equation:
from the least squares criterion, then:
in the above formulas (5) to (6)
Fitting a function for the trend term
、 
… 
Are the coefficients of the fitting function and,Qit is shown that the sum of the squared errors is minimized,
after integration of acceleration
A displacement signal of (a).
The method is a mathematical optimization technique. It matches by minimizing the sum of the squares of the errors to find the best function of the data. Unknown data can be easily obtained by the least square method, and the sum of squares of errors between these obtained data and actual data is minimized.
Step 4), the square envelope algorithm processing is as follows:
transient impact can be generated when a vehicle passes through a triangular pit on the rail surface, the fluctuation of the instantaneous energy of a vibration signal is caused, and a track irregularity signal is detected by utilizing a square envelope algorithm
Instantaneous energy fluctuation in the time domain, for a length ofNZero mean filtered signal of
Of its squared envelope signal
Expressed as:
in the formula
For Hilbert transform, j =
(i.e., imaginary units).
In the step 5), the peak value of the square envelope signal represents the characteristic mutation position of the signal to be detected, namely the position of the track surface triangular pit in the corresponding line of the peak value of the square envelope signal curve, the mutation position of the square envelope signal is detected, and the left track surface triangular pit and the right track surface triangular pit are positioned according to the peak value of the unsmooth envelope curve.
And step 6) identifying the basic parameter base length and amplitude of the triangular pit according to the positioning information of the triangular pit and by combining the vertical irregularity of the rail surface obtained by calculation in the step 3), thereby determining the damage degree of the triangular pit and providing a reference basis for field maintenance.
It should be noted that all the above-mentioned initial data and intermediate data are left and right rail data, including axle box vertical acceleration signal, square envelope signal curve, left and right rail vertical irregularity, etc.
The following description is made in conjunction with practical application, and as shown in fig. 1, a detailed flow of a rail surface triangular pit identification method based on an inertia principle is shown in fig. 1, and the method comprises the following steps:
1. setting parameters of a triangular pit, then carrying out a simulation experiment, and collecting vibration acceleration of a shaft box on the left side and the right side of the vehicle;
the rail surface triangular pit is arranged in a mode that a harmonic irregularity with the wavelength of L =3.24 m and the amplitude of 2.21 mm is arranged on a left strand of steel rail, a harmonic irregularity with the wavelength of L =2.68m and the amplitude of 2.04 mm is arranged on a right strand of steel rail and is respectively positioned at the 85.70 m position of the left rail and the 89.70 m position of the right rail, as shown in figure 2, the American fifth-level spectrum track irregularity is applied on the track to simulate the actual operation condition of an operation truck, and a mark A in the figure represents that the amplitude L of the triangular pit represents the wavelength of the triangular pit.
In practice, the running speed of the vehicle should be less than 80km/h, the sampling frequency of the axle box acceleration on the left side and the right side should be more than 500Hz, for example, the acceleration time-domain waveform of the C80 truck model when the acceleration signal sampling frequency is 2000 Hz and the running speed is 60 km/h passes through a triangular pit is calculated, as shown in fig. 3 and 4.
2. Preprocessing sampled signal data;
and carrying out 200 Hz low-pass filtering on the axle box acceleration signal to remove the noise caused by rail irregularity and vehicle structural components.
3. Obtaining vertical irregularity of the left rail and the right rail by using an inertia principle;
performing quadratic integration on the noise-reduced acceleration signal according to formula (4) based on the inertia principle, wherein
Finally, the trend term after the integral is eliminated based on the least square principle, and the vertical irregularity of the rail surface can be obtained, and the result is shown in fig. 5 and 6.
4. And detecting the position of the signal mutation according to the calculated rail surface irregularity square envelope signal, and positioning the position of the rail surface triangular pit.
In a specific implementation mode, a square envelope algorithm is further adopted to pick up the position of the abrupt change of the signal so as to position the triangular pit on the track surface in the line. As shown in fig. 7 and 8, the identification results of the triangular pits corresponding to the peak positions of the non-uniform square envelope signal curve are 85.69 m for the left track and 90.14 m for the right track, respectively.
5. Determining the base length and amplitude of the triangular pit according to the position of the triangular pit;
in a specific embodiment, according to the triangular pit positioning result in the step 4 and by combining the track irregularity identification results in fig. 5 and 6, the point with the largest waveform fluctuation in the figure is the triangular pit position, and the base length and the amplitude of the left-track triangular pit are measured to be 3.25 m and 2.29 mm respectively, and the base length and the amplitude of the right-track triangular pit are measured to be 2.72 m and 2.03 mm respectively.
Interpretation of terms: a rail crater (i.e., a distorted surface) is a surface of two strands of steel that are distorted relative to the plane of the rail, such that the left strand of the rail is higher than the right strand of the rail, and then the right strand of the rail is higher than the left strand of the rail, or vice versa, at a distance.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The above are only preferred embodiments of the present invention, and it should be noted that the above preferred embodiments should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.
Claims (9)
1. A rail surface triangular pit identification method based on an inertia principle is characterized by comprising the following steps:
step 1) signal acquisition: collecting vertical acceleration signals of a shaft box on the left side and the right side of a vehicle;
step 2) data preprocessing: denoising the signal by using a low-pass filter and rejecting abnormal monitoring data;
step 3) analyzing the vibration signal based on the inertia principle:
step 3.1) carrying out secondary integration on the preprocessed acceleration signal by using an integration filter to obtain a rail surface vertical displacement fluctuation signal;
step 3.2) removing a trend term generated after integration by adopting a least square method to obtain vertical irregularity of the rail surface;
step 4) processing by using a square envelope algorithm to obtain square envelope signals with vertical irregularity of the rail surface;
step 5) positioning the triangular pit of the rail surface according to the square envelope signal of the vertical irregularity of the rail surface;
and 6) respectively determining the base length and the amplitude of the triangular pits of the left and right rail surfaces according to the positions of the triangular pits of the rail surfaces.
2. The method for identifying a triangular pit on a rail surface based on the inertial principle according to claim 1, wherein acceleration sensors are mounted on left and right axle boxes of a bogie to obtain acceleration signals.
3. The method for identifying the triangular pit on the rail surface based on the inertia principle as claimed in claim 1, wherein the low-pass filter is used for removing high-frequency noise interference in the monitoring signal and simultaneously removing abnormal monitoring signals caused by sensor defects and external environment.
4. The method for identifying triangular pits on a rail surface based on the inertial principle of claim 1, wherein the second integration in the step 3) is as follows:
from the integral definition, we can:
from (1) and (2) can be obtained:
at this time, the transfer function of the quadratic integration filter
Comprises the following steps:
in the above formulas (1) to (4)
Indicating the value of the vertical displacement of the axle housing,
pair of representations
The derivative is taken as a function of the time,
is composed of
And
at time points in between, z is the z transform operator, and n represents the axle box acceleration sampling point.
5. The method for identifying triangular pits on a track surface based on the inertial principle of claim 1 is characterized in that, as shown in the formula (4), the integral filter is easy to generate integral saturation on the low-frequency trend signal, and the low-frequency trend after integration is removed by using the least square method, as shown in the following formula:
from the least squares criterion, then:
in the above formulas (5) to (6)
Fitting a function for the trend term
、
…
Are the coefficients of the fitting function and,Qit is shown that the sum of the squared errors is minimized,
after integration of acceleration
The displacement signal of (a).
6. The method for identifying triangular pits on rail surface based on inertial principle as claimed in claim 1,
step 4), the square envelope algorithm processing is as follows:
transient impact can be generated when a vehicle passes through the rail surface triangular pit, the fluctuation of the instantaneous energy of a vibration signal is caused, and a track irregularity signal is detected by utilizing a square envelope algorithm
Instantaneous energy fluctuation in the time domain, for a length ofNZero mean filtered signal of
Of its squared envelope signal
Expressed as:
in the formula
For Hilbert transform, j =
。
7. The method for identifying triangular pits on a track surface based on the inertia principle as claimed in claim 1, wherein in the step 5), the peak value of the square envelope signal represents the characteristic sudden change position of the signal to be detected, namely the peak value of the square envelope signal curve corresponds to the position of the triangular pits on the track surface in the line, the sudden change position of the square envelope signal is detected, and the triangular pits on the left track surface and the right track surface are positioned according to the peak value of the irregular envelope curve.
8. The method for identifying the triangular pit on the rail surface based on the inertia principle as claimed in claim 1, wherein the basic parameter base length and amplitude of the triangular pit are identified in step 6) according to the positioning information of the triangular pit and the vertical irregularity of the rail surface calculated in step 3), so that the damage degree of the triangular pit can be determined, and a reference basis is provided for field maintenance and repair.
9. The method for identifying the rail surface triangular pit based on the inertia principle as claimed in claim 1, wherein in the step 1), the sampling frequency of the axle box vertical acceleration signal is required to be more than 500Hz, and the running speed of the vehicle is required to be less than 80km/h.
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| 宁静等: "基于EMD和Cohen核的轨道不平顺信号分析方法", 《振动与冲击》 * |
| 张海强等: "基于参数优化VMD和SPWVD的轨道波磨辨识方法", 《铁路计算机应用》 * |
| 李海涛等: "基于EEMD的轨道―车辆系统垂向动力学的时频分析", 《中国铁道科学》 * |
| 苏燕辰等: "基于本征模函数的高速磁浮线路不平顺检测", 《西南交通大学学报》 * |
| 陈宪麦等: "中国干线铁路轨道谱的拟合方法", 《交通运输工程学报》 * |
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