CN116811960A - Bogie health state monitoring method, system, equipment and medium integrating radar speed measurement and multiple physical quantities - Google Patents
Bogie health state monitoring method, system, equipment and medium integrating radar speed measurement and multiple physical quantities Download PDFInfo
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Abstract
The application discloses a bogie health state monitoring method, system, equipment and medium integrating radar speed measurement and multiple physical quantities, wherein the method comprises the following steps: collecting physical signals of a train in a normal running state, wherein the physical signals comprise speed, vibration, noise and temperature signals of k measuring points of a bogie of the train; preprocessing a vibration signal and a noise signal by combining a vehicle speed signal, performing time domain analysis and frequency domain analysis, and extracting signal characteristics; and carrying out statistical analysis on the temperature signals to obtain statistical characteristics of the signals. The method, the system, the equipment and the medium for monitoring the health state of the bogie, which are used for fusing radar speed measurement and multiple physical quantities, are used for carrying out weighting processing on the acquired vehicle speed signals and the physical quantity signals such as vibration, noise, temperature and the like to obtain fusion indexes, dividing the vehicle speed into different grades, and comparing and judging according to the threshold values of the fusion indexes of the health states under different vehicle speeds, so that the health state evaluation of the bogie under different vehicle speeds can be realized.
Description
Technical Field
The application relates to a bogie health state monitoring method, system, equipment and medium integrating radar speed measurement and multiple physical quantities, and belongs to the technical field of bogie health monitoring.
Background
The bogie is a key part in the running process of the train, and effective health state monitoring can be carried out on the bogie, so that the safe running of the train can be ensured, and equipment maintenance can be timely carried out.
In a traditional health state monitoring system, a plurality of physical parameters are often evaluated one by one, and the health state of an evaluation object is judged. Because the single physical signal contains less information and cannot reflect the associated information among different physical quantities, the overall state of the train cannot be comprehensively evaluated, and the erroneous evaluation of the health state of equipment is easy to cause. In addition, the running stability of the train under different speed conditions is different, and the corresponding health state indexes of the bogie are different, so that the running health state of the train cannot be evaluated by a single index system.
Therefore, in order to comprehensively evaluate the running state of the bogie of the train accurately in real time and adjust the evaluation index according to the actual speed of the train so as to meet the actual monitoring requirement, a bogie health state monitoring method, system, equipment and medium integrating radar speed measurement and multiple physical quantities are needed.
Disclosure of Invention
The application aims to overcome the defects in the prior art and provides a bogie health state monitoring method, system, equipment and medium for fusing radar speed measurement and multiple physical quantities, wherein collected vehicle speed signals and physical quantity signals such as vibration, noise and temperature are weighted to obtain fusion indexes, the vehicle speeds are divided into different grades, and comparison judgment is carried out according to thresholds of the fusion indexes of the health states of different vehicle speeds, so that the health state assessment of the bogie under different vehicle speeds can be realized.
In order to achieve the above purpose, the application is realized by adopting the following technical scheme:
in a first aspect, the present application provides a method for monitoring the health state of a bogie by integrating radar speed measurement and multiple physical quantities, comprising:
collecting physical signals of a train in a normal running state, wherein the physical signals comprise speed, vibration, noise and temperature signals of k measuring points of a bogie of the train;
preprocessing a vibration signal and a noise signal by combining a vehicle speed signal, performing time domain analysis and frequency domain analysis, and extracting signal characteristics; carrying out statistical analysis on the temperature signals to obtain statistical characteristics of the signals;
normalizing the obtained signal characteristics and statistical characteristics, and weighting the influence proportion of the bogie running state according to different signals to obtain a fusion index S comprising rotation speed information;
and comparing the fusion index S obtained under different vehicle speed grades with a threshold value beta in the state of health under the corresponding rotating speed, and judging the state of health of the bogie.
Further, the method for collecting the physical signal comprises the following steps:
the speed of the vehicle is obtained by radar speed measurement, and the vibration, noise and temperature signals are acquired by a sensor.
Further, the preprocessing method for the vibration signal and the noise signal comprises the following steps:
filtering the vibration signal and the noise signal to obtain a time domain signal;
converting the vehicle speed signal into a rotating speed signal, and carrying out phase solving based on the rotating speed signal to obtain an interpolation time point corresponding to the time domain signal;
based on the obtained interpolation time point, the time signal is subjected to equal-angle resampling by a Lagrange interpolation method and converted into an angle domain signal.
Further, the Lagrangian interpolation is performed by the following formula:
in the formula ,represents the angular domain signal after the equiangular interpolation, L represents interpolation by Lagrange interpolation, X (t) represents the time domain signal,/and->Representing interpolation time points corresponding to the time domain signals;
wherein ,the method comprises the following steps:
the speed V (t) of the train is measured by a radar velometer, and the original train is started under the condition of knowing the radius parameter R of the wheelReal-time turning angle for converting speed into wheelIn the extremely short time of high-speed sampling, the rotation speed and the rotation angle of the wheels are considered to be constant, so that the moment corresponding to the middle rotation angle is solved by a proportional equation:
in the formula ,at t i Real-time rotation angle of time [ t ] i ]Indicating the time t i Rounding down, combining according to the aboveInterpolation of the corresponding time +_ in equal angular increments>
Further, the method for obtaining the fusion index S includes:
performing time domain analysis on the time domain signal X (t), and extracting time domain features: effective value Q 1
wherein ,Xrms Representing the root mean square value of the time domain signal X (t), N being the number of sample points in the signal;
diagonal domain signalFourier transforming and extracting frequency domain features: vibration acceleration level Q 2
in the formula ,ae As the effective value of acceleration, a 0 Is the reference acceleration;
carrying out statistical analysis on the temperature signals, calculating the mean value and the variance of the temperature measured values, and adding the mean value and the variance to obtain statistical characteristics: temperature Q 3 ；
For all signal features Q i Normalization processing is carried out to obtain an evaluation index q i The influence of different physical quantity dimensions on signal fusion is removed, namely:
in the formula ,Qmax For the maximum value of the signal characteristics under the state of bogie health, Q min At minimum, q i Between 0 and 1, q i I represents different physical quantities for the evaluation index obtained after normalization;
fusing the normalized evaluation indexes to obtain a fusion index s of multiple physical signals:
in the formula ,qn Omega is the evaluation index obtained after normalization n To evaluate index q n The corresponding weight.
Further, the construction method of the fusion index threshold under the bogie health state comprises the following steps:
according to the rotation speed of the wheels, the signals under multiple groups of health states are respectively collected according to different levels, such as the rotation speedUnder the level, k groups of signals (X 1 ，X 2 ，X 3 ，...，X j The method comprises the steps of carrying out a first treatment on the surface of the j=1, 2,3,..k), an evaluation index of each group signal is obtained +.>Will evaluate index q Xi Statistical analysis is carried out, the mean value and the variance are calculated and summed up to obtain an evaluation index in the health state>Finally weighting to obtain a fusion index threshold value->
in the formula ,indicating the rotational speed +.>And (5) fusing the threshold value of the index under the health state of the bogie.
Further, the method for judging the health state of the bogie comprises the following steps:
comparing a fusion index S obtained when the bogie actually operates with a threshold value beta in a healthy state at a corresponding rotating speed, and judging whether the fusion index S is in the range of the threshold value beta or not:
when the fusion index S is within the range of the threshold value beta, the bogie can be judged to be in a healthy state;
when the fusion index S is out of the range of the threshold value beta, the proportion of the part exceeding the threshold value beta is further determined, and if the proportion of the part exceeding the threshold value beta is smaller than 20%, the bogie is judged to be slightly failed; and otherwise, judging that the bogie is severely failed.
In a second aspect, the present application provides a bogie health state monitoring device integrating radar speed measurement and multiple physical quantities, including:
the signal acquisition module: the method is used for collecting physical signals of the train in a normal running state, wherein the physical signals comprise speed, vibration, noise and temperature signals of k measuring points of the bogie of the train;
the signal characteristic obtaining module is used for: the method comprises the steps of preprocessing a vibration signal and a noise signal by combining a vehicle speed signal, performing time domain analysis and frequency domain analysis, and extracting signal characteristics; carrying out statistical analysis on the temperature signals to obtain statistical characteristics of the signals;
fusion index obtaining module: the method comprises the steps of carrying out normalization processing on obtained signal characteristics and statistical characteristics, and weighting the influence proportion of the bogie running state according to different signals to obtain a fusion index S comprising rotation speed information;
and a judging module: and the method is used for comparing the fusion index S obtained under different vehicle speed grades with a threshold value beta in the state of health under the corresponding rotating speed to judge the state of health of the bogie.
In a third aspect, the present application provides a computer device comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the steps of the method according to the first aspect.
Compared with the prior art, the application has the beneficial effects that:
the vehicle speed signal under the actual running condition of the train is fused with other physical signals reflecting the running state of the bogie, so that a set of comprehensive train bogie health state assessment system with assessment indexes capable of being adjusted along with the change of the vehicle speed is formed, the situation that judgment is wrong due to the failure of a single signal is avoided, various physical signals can be associated, the monitoring result is more reliable, meanwhile, the acquired vehicle speed signal and the physical quantity signals such as vibration, noise and temperature are subjected to weighting treatment to obtain the fusion indexes, and the threshold value of the corresponding health state fusion index is selected for judgment according to the vehicle speed grade of the train, so that the health state assessment of the bogie under different vehicle speeds can be realized.
Drawings
Fig. 1 is a flowchart of a bogie health state monitoring method for fusing radar speed measurement and multiple physical quantities according to the first embodiment;
FIG. 2 is a schematic diagram showing a specific flow of the truck health status determination of FIG. 1;
FIG. 3 is a schematic diagram of a state of health assessment system constructed based on the bogie state of health monitoring method provided in accordance with the first embodiment;
fig. 4 is a schematic diagram of a preprocessing flow of vibration signals and noise signals.
Detailed Description
The following detailed description of the technical solutions of the present application will be given by way of the accompanying drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present application are detailed descriptions of the technical solutions of the present application, and not limiting the technical solutions of the present application, and that the embodiments and technical features of the embodiments of the present application may be combined with each other without conflict.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Embodiment one:
fig. 1 is a flowchart of a bogie health state monitoring method integrating radar speed measurement and multiple physical quantities in a first embodiment of the present application. The bogie health state monitoring method integrating radar speed measurement and multiple physical quantities provided by the embodiment can be applied to a terminal, and can be executed by a bogie health state monitoring device integrating radar speed measurement and multiple physical quantities, the device can be realized by software and/or hardware, and the device can be integrated in the terminal, for example: any smart phone, tablet computer or computer device with communication function. Referring to fig. 1, the method of the present embodiment specifically includes the following steps:
step A: collecting physical signals of a train in a normal running state, wherein the physical signals comprise speed, vibration, noise and temperature signals of k measuring points of a bogie of the train;
and (B) step (B): preprocessing a vibration signal and a noise signal by combining a vehicle speed signal, performing time domain analysis and frequency domain analysis, and extracting signal characteristics; carrying out statistical analysis on the temperature signals to obtain statistical characteristics of the signals;
step C: normalizing the obtained signal characteristics and statistical characteristics, and weighting the influence proportion of the bogie running state according to different signals to obtain a fusion index S comprising rotation speed information;
step D: and comparing the fusion index S obtained under different vehicle speed grades with a threshold value beta in the state of health under the corresponding rotating speed, and judging the state of health of the bogie.
Step Aa: the method for collecting the physical signals comprises the following steps:
the speed of the vehicle is obtained by radar speed measurement, and the vibration, noise and temperature signals are acquired by a sensor, specifically, a radar speed meter, a vibration sensor, a sound sensor and the like are fixed on a bogie of the train according to preset measuring points, and various physical signals during operation are acquired through synchronous acquisition.
Step Ba: as shown in fig. 4, the preprocessing method for the vibration signal and the noise signal includes:
filtering the vibration signal and the noise signal to obtain a time domain signal;
converting the vehicle speed signal into a rotating speed signal, and carrying out phase solving based on the rotating speed signal to obtain an interpolation time point corresponding to the time domain signal;
based on the obtained interpolation time point, performing equal-angle resampling on the time signal by a Lagrange interpolation method to convert the time signal into a quasi-static angle domain signal;
the method is characterized in that the actual running speed of the train is obtained through radar speed measurement and converted into a rotating speed signal, and each physical signal for evaluating the health state of the train is collected through sensors arranged on a carriage or a train body. Specifically, the vibration and noise signals can determine equal-angle resampling time through phase solving, then angular domain resampling is carried out on the signals through a Lagrange interpolation method, the interpolated time axis coordinate point is the equal-angle resampling time, and the resampling signals obtained at the moment are angular domain quasi-static signals;
because the temperature signal is acquired according to the fixed sampling frequency and is not influenced by the fluctuation of the rotating speed, angular domain resampling processing is not needed, and statistical analysis, such as mean value calculation, variance calculation and the like, is only needed for the acquired temperature data.
Step Bb: because the amplitude of the time domain signal X (t) is suddenly changed in real time, the Lagrange interpolation method is adopted to perform equal-angle interpolation on the time domain signal in the original time domain coordinate, and the quasi-static signal in the angular domain coordinate is obtained through analog resampling:
in the formula ,represents the angular domain signal after the equiangular interpolation, L represents interpolation by Lagrange interpolation, X (t) represents the time domain signal,/and->Representing interpolation time points corresponding to the time domain signals;
wherein ,the method comprises the following steps:
the speed V (t) of the train is measured by a radar velometer, and the train is knownUnder the condition of the wheel radius parameter R, converting the original vehicle speed into the real-time rotation angle of the wheelsIn the extremely short time of high-speed sampling, the rotation speed and the rotation angle of the wheels are considered to be constant, so that the moment corresponding to the middle rotation angle is solved by a proportional equation:
in the formula ,at t i Real-time rotation angle of time [ t ] i ]Indicating the time t i Rounding down, combining according to the aboveInterpolation of the corresponding time +_ in equal angular increments>
Step Ca: the method for obtaining the fusion index S comprises the following steps:
(1) Performing time domain analysis on the time domain signal X (t), and extracting time domain features: effective value Q 1
wherein ,Xrms Representing the root mean square value of the time domain signal X (t), N is the number of samples in the signal. The characteristic is that the amplitude and the energy intensity of the bogie vibration can objectively stabilize the bogie.
(2) Diagonal domain signalFourier transforming and extracting frequency domain features: vibration accelerationStage Q 2
in the formula ,ae As the effective value of acceleration, a 0 Is the reference acceleration.
It should be noted that, since the frequency spectrum blurring phenomenon is generated on the signal due to the fluctuation of the rotation speed, fourier transform analysis cannot be performed, and frequency domain features are extracted, so that equal-angle resampling is required. But has no influence on the extraction of the time domain characteristics, so that the time domain signals can directly extract the time domain characteristics; extracting frequency domain characteristics of the frequency domain signals after Fourier transformation;
the precondition of the fourier transform is that a smooth signal without abrupt change of the signal is required, so that an interpolation time point is obtained through phase solving, and then a quasi-static signal of an angular domain is obtained through resampling by an interpolation method.
(3) Carrying out statistical analysis on the temperature signals, calculating the mean value and the variance of the temperature measured values, and adding the mean value and the variance to obtain statistical characteristics: temperature Q 3 ；
(4) For all signal features Q i Normalization processing is carried out to obtain an evaluation index q i The influence of different physical quantity dimensions on signal fusion is removed, namely:
in the formula ,Qmax For the maximum value of the signal characteristics under the state of bogie health, Q min At minimum, q i Between 0 and 1, q i I represents different physical quantities for the evaluation index obtained after normalization;
(5) Because the influence of each physical quantity on the health state of the bogie is different, the normalized evaluation indexes are fused to obtain a fusion index S of multiple physical signals:
in the formula ,qn Omega is the evaluation index obtained after normalization n To evaluate index q n The corresponding weight.
Step Da: the construction method of the fusion index threshold under the bogie health state comprises the following steps:
according to the rotation speed of the wheels, the signals under multiple groups of health states are respectively collected according to different levels, such as the rotation speedUnder the level, k groups of signals (X 1 ，X 2 ，X 3 ，...，X j The method comprises the steps of carrying out a first treatment on the surface of the j=1, 2,3,..k), obtaining the evaluation index of each group of signals by the step Ca>Will evaluate index q Xi Statistical analysis is carried out, the mean value and the variance are calculated and summed up to obtain an evaluation index in the health state>Finally weighting to obtain a fusion index threshold value
in the formula ,indicating the rotational speed +.>Threshold, omega of fusion index under state of health of bogie n Is an evaluation index in health status +.>The corresponding weight.
Step Db: as shown in fig. 2, the method for determining the health status of the bogie includes:
comparing a fusion index S obtained when the bogie actually operates with a threshold value beta in a healthy state at a corresponding rotating speed, and judging whether the fusion index S is in the range of the threshold value beta or not:
when the fusion index S is within the range of the threshold value beta, the bogie can be judged to be in a healthy state;
when the fusion index S is out of the range of the threshold value beta, the proportion of the part exceeding the threshold value beta is further determined, and if the proportion of the part exceeding the threshold value beta is smaller than 20%, the bogie is judged to be slightly failed; and otherwise, judging that the bogie is severely failed, thereby achieving the purpose of the bogie health state monitoring system.
The health state evaluation system constructed based on the health state monitoring method is shown in fig. 3, in the figure, before the health state monitoring of the bogie of the train is started, different grades are needed to be divided according to the rotating speeds of wheels, different physical signals in a normal running state are collected, and a fusion index threshold beta is constructed for subsequent analysis and comparison.
And acquiring each physical signal of the bogie during actual running, extracting signal characteristics, and carrying out normalization weighting to obtain an index S for evaluating the health state of the bogie.
And comparing the fusion index S with a threshold value beta in the healthy state at the corresponding rotating speed, and judging whether the fusion index S is in the range of the threshold value beta. If the fusion index S is within the range of the threshold value beta, the bogie can be judged to be in a healthy state, and if the fusion index S is outside the range of the threshold value beta, the proportion of the part exceeding the threshold value beta needs to be further determined.
And calculating the proportion of the part of the fusion index S exceeding the threshold value beta. Judging whether the correlation reaches a threshold value beta, if so, judging that the parts are healthy, and if the proportion of the excess parts is less than 20%, judging that the bogie is slightly faulty; and otherwise, judging that the bogie is severely failed.
In summary, according to the bogie health state monitoring method integrating radar speed measurement and multiple physical quantities provided by the embodiment, the vehicle speed signal under the actual running condition of the train and other physical signals reflecting the running state of the bogie are integrated to form a comprehensive train bogie health state assessment system with assessment indexes capable of being adjusted along with the change of the vehicle speed. The situation that judgment is wrong due to single signal failure is avoided, various physical signals can be associated, so that the monitoring result is more reliable, meanwhile, the acquired vehicle speed signal and physical quantity signals such as vibration, noise and temperature are weighted to obtain fusion indexes, and the threshold value of the corresponding health state fusion index is selected for judgment according to the vehicle speed grade of a train, so that the health state assessment of the bogie under different vehicle speeds can be realized.
Embodiment two:
a bogie health state monitoring device integrating radar speed measurement and multiple physical quantities comprises:
the signal acquisition module: the method is used for collecting physical signals of the train in a normal running state, wherein the physical signals comprise speed, vibration, noise and temperature signals of k measuring points of the bogie of the train;
the signal characteristic obtaining module is used for: the method comprises the steps of preprocessing a vibration signal and a noise signal by combining a vehicle speed signal, performing time domain analysis and frequency domain analysis, and extracting signal characteristics; carrying out statistical analysis on the temperature signals to obtain statistical characteristics of the signals;
fusion index obtaining module: the method comprises the steps of carrying out normalization processing on obtained signal characteristics and statistical characteristics, and weighting the influence proportion of the bogie running state according to different signals to obtain a fusion index S comprising rotation speed information;
and a judging module: and the method is used for comparing the fusion index S obtained under different vehicle speed grades with a threshold value beta in the state of health under the corresponding rotating speed to judge the state of health of the bogie.
The bogie health state monitoring device for fusing radar speed measurement and multiple physical quantities provided by the embodiment of the application can execute the bogie health state monitoring method for fusing radar speed measurement and multiple physical quantities provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
Embodiment III:
the embodiment of the application also provides computer equipment, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate according to the instructions to perform the steps of the method of:
collecting physical signals of a train in a normal running state, wherein the physical signals comprise speed, vibration, noise and temperature signals of k measuring points of a bogie of the train;
preprocessing a vibration signal and a noise signal by combining a vehicle speed signal, performing time domain analysis and frequency domain analysis, and extracting signal characteristics; carrying out statistical analysis on the temperature signals to obtain statistical characteristics of the signals;
normalizing the obtained signal characteristics and statistical characteristics, and weighting the influence proportion of the bogie running state according to different signals to obtain a fusion index S comprising rotation speed information;
and comparing the fusion index S obtained under different vehicle speed grades with a threshold value beta in the state of health under the corresponding rotating speed, and judging the state of health of the bogie.
For details of each step in this embodiment, refer to embodiment one, and are not described herein. In view of the fact that the present embodiment adopts the same technical idea as the first embodiment, there are also technical effects such as those described in the first embodiment.
Embodiment four:
the embodiment of the application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
collecting physical signals of a train in a normal running state, wherein the physical signals comprise speed, vibration, noise and temperature signals of k measuring points of a bogie of the train;
preprocessing a vibration signal and a noise signal by combining a vehicle speed signal, performing time domain analysis and frequency domain analysis, and extracting signal characteristics; carrying out statistical analysis on the temperature signals to obtain statistical characteristics of the signals;
normalizing the obtained signal characteristics and statistical characteristics, and weighting the influence proportion of the bogie running state according to different signals to obtain a fusion index S comprising rotation speed information;
and comparing the fusion index S obtained under different vehicle speed grades with a threshold value beta in the state of health under the corresponding rotating speed, and judging the state of health of the bogie.
For details of each step in this embodiment, refer to embodiment one, and are not described herein. In view of the fact that the present embodiment adopts the same technical idea as the first embodiment, there are also technical effects such as those described in the first embodiment.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely a preferred embodiment of the present application, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present application, and such modifications and variations should also be regarded as being within the scope of the application.
Claims (10)
1. A bogie health state monitoring method integrating radar speed measurement and multiple physical quantities is characterized by comprising the following steps:
collecting physical signals of a train in a normal running state, wherein the physical signals comprise speed, vibration, noise and temperature signals of k measuring points of a bogie of the train;
preprocessing a vibration signal and a noise signal by combining a vehicle speed signal, performing time domain analysis and frequency domain analysis, and extracting signal characteristics; carrying out statistical analysis on the temperature signals to obtain statistical characteristics of the signals;
normalizing the obtained signal characteristics and statistical characteristics, and weighting the influence proportion of the bogie running state according to different signals to obtain a fusion index S comprising rotation speed information;
and comparing the fusion index S obtained under different vehicle speed grades with a threshold value beta in the state of health under the corresponding rotating speed, and judging the state of health of the bogie.
2. The method for monitoring the health state of the bogie by combining radar speed measurement and multiple physical quantities according to claim 1, wherein the method for acquiring the physical signals comprises the following steps:
the speed of the vehicle is obtained by radar speed measurement, and the vibration, noise and temperature signals are acquired by a sensor.
3. The method for monitoring the health state of the bogie by combining radar speed measurement and multiple physical quantities according to claim 2, wherein the method for preprocessing the vibration signal and the noise signal comprises the following steps:
filtering the vibration signal and the noise signal to obtain a time domain signal;
converting the vehicle speed signal into a rotating speed signal, and carrying out phase solving based on the rotating speed signal to obtain an interpolation time point corresponding to the time domain signal;
based on the obtained interpolation time point, the time signal is subjected to equal-angle resampling by a Lagrange interpolation method and converted into an angle domain signal.
4. The method for monitoring the health state of the bogie by combining radar speed measurement and multiple physical quantities according to claim 3, wherein the lagrangian interpolation method is performed by the following formula:
in the formula ,represents the angular domain signal after the equiangular interpolation, L represents interpolation by Lagrange interpolation, X (t) represents the time domain signal,/and->Representing interpolation time points corresponding to the time domain signals;
wherein ,the method comprises the following steps:
the speed V (T) of the train is measured by a radar velometer, and the original speed is converted into the real-time rotation angle of the wheels under the condition of knowing the radius parameter R of the wheelsIn the extremely short time of high-speed sampling, the rotation speed and the rotation angle of the wheels are considered to be constant, so that the moment corresponding to the middle rotation angle is solved by a proportional equation:
in the formula ,at t i Real-time rotation angle of time [ t ] i ]Indicating the time t i Rounding down, combining +.>Interpolation of the corresponding time +_ in equal angular increments>
5. The method for monitoring the health state of the bogie by combining radar speed measurement and multiple physical quantities according to claim 4, wherein the method for obtaining the fusion index S comprises the following steps:
performing time domain analysis on the time domain signal X (t), and extracting time domain features: effective value Q 1
wherein ,Xrms Representing the root mean square value of the time domain signal X (t), N being the number of sample points in the signal;
diagonal domain signalFourier transforming and extracting frequency domain features: vibration acceleration level Q 2
in the formula ,ae As the effective value of acceleration, a 0 Is the reference acceleration;
carrying out statistical analysis on the temperature signals, calculating the mean value and the variance of the temperature measured values, and adding the mean value and the variance to obtain statistical characteristics: temperature Q 3 ；
For all signal features Q i Normalization processing is carried out to obtain an evaluation index q i The influence of different physical quantity dimensions on signal fusion is removed, namely:
in the formula ,Qmax For the maximum value of the signal characteristics under the state of bogie health, Q min At minimum, q i Between 0 and 1, q i I represents different physical quantities for the evaluation index obtained after normalization;
fusing the normalized evaluation indexes to obtain a fusion index S of multiple physical signals:
in the formula ,qn Omega is the evaluation index obtained after normalization n To evaluate index q n The corresponding weight.
6. The method for monitoring the bogie health state by fusing radar speed measurement and multiple physical quantities according to claim 5, wherein the method for constructing the fusion index threshold under the bogie health state is as follows:
according to the rotation speed of the wheels, the signals under multiple groups of health states are respectively collected according to different levels, such as the rotation speedUnder the level, k groups of signals (X 1 ，X 2 ，X 3 ，...，X j The method comprises the steps of carrying out a first treatment on the surface of the j=1, 2,3,..k), an evaluation index of each group signal is obtained +.>Will evaluate index q Xi Statistical analysis is carried out, the mean value and the variance are calculated and summed up to obtain an evaluation index in the health state>Finally weighting to obtain a fusion index threshold value->
in the formula ,indicating the rotational speed +.>And (5) fusing the threshold value of the index under the health state of the bogie.
7. The method for monitoring the health state of the bogie by combining radar speed measurement and multiple physical quantities according to claim 1, wherein the method for judging the health state of the bogie comprises the following steps:
comparing a fusion index S obtained when the bogie actually operates with a threshold value beta in a healthy state at a corresponding rotating speed, and judging whether the fusion index S is in the range of the threshold value beta or not:
when the fusion index S is within the range of the threshold value beta, the bogie can be judged to be in a healthy state;
when the fusion index S is out of the range of the threshold value beta, the proportion of the part exceeding the threshold value beta is further determined, and if the proportion of the part exceeding the threshold value beta is smaller than 20%, the bogie is judged to be slightly failed; and otherwise, judging that the bogie is severely failed.
8. A bogie health state monitoring device integrating radar speed measurement and multiple physical quantities, the device comprising:
the signal acquisition module: the method is used for collecting physical signals of the train in a normal running state, wherein the physical signals comprise speed, vibration, noise and temperature signals of k measuring points of the bogie of the train;
the signal characteristic obtaining module is used for: the method comprises the steps of preprocessing a vibration signal and a noise signal by combining a vehicle speed signal, performing time domain analysis and frequency domain analysis, and extracting signal characteristics; carrying out statistical analysis on the temperature signals to obtain statistical characteristics of the signals;
fusion index obtaining module: the method comprises the steps of carrying out normalization processing on obtained signal characteristics and statistical characteristics, and weighting the influence proportion of the bogie running state according to different signals to obtain a fusion index S comprising rotation speed information;
and a judging module: and the method is used for comparing the fusion index S obtained under different vehicle speed grades with a threshold value beta in the state of health under the corresponding rotating speed to judge the state of health of the bogie.
9. A computer device comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor being operative according to the instructions to perform the steps of the method according to any one of claims 1 to 7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1-7.
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