CN117669131A - Method and system for preventing abnormal operation of tamping car and tamping car - Google Patents
Method and system for preventing abnormal operation of tamping car and tamping car Download PDFInfo
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Abstract
The application discloses a method and a system for preventing abnormal operation of a tamping car and the tamping car, and belongs to the technical field of road maintenance machine control technology. The method for preventing the abnormal operation of the tamping car comprises the following steps: acquiring line parameters to be operated, and determining actual line coordinate data corresponding to the line parameters to be operated; simulating and resolving the actual line coordinate data according to the operation control principle of the tamping car to obtain simulated operation parameters; acquiring actual operation parameters of a current operation position; calculating the operation parameter deviation of the simulation operation parameter and the actual operation parameter; judging whether the track lifting quantity and/or the track shifting quantity of the tamping car are abnormal according to the deviation of the operation parameters; if so, the tamping operation control system of the tamping vehicle is interfered, such as limiting the execution of track lifting and track shifting actions or controlling the tamping vehicle to stop operation and sending out abnormal information prompt alarm and the like. The method and the device can automatically prevent the tamping car from abnormal operation, and avoid the abnormal track lifting or track shifting of the tamping car.
Description
Technical Field
The application relates to the technical field of road maintenance machine control, in particular to a method and a system for preventing abnormal operation of a tamping car and the tamping car.
Background
The tamping car is used as main equipment for railway construction and operation and maintenance operation, and plays a vital role in the railway development process. In the process of line straightening operation, the situation of abnormal track lifting of the tamping car or abnormal track shifting of the tamping car can occur. Because abnormal track lifting and track shifting can be found after the occurrence of the abnormal track lifting and track shifting, when the abnormal track lifting and track shifting is found, the circuit is damaged to different degrees, and even the normal passing of the circuit can be influenced. Many factors causing abnormal track lifting and track shifting include abnormal sensors, abnormal operation of a working device, abnormal equipment track and the like, and the abnormal track shifting can be caused. Because the working units, the mechanisms and the corresponding sensors of the tamping car are more in number, faults cannot be prevented from happening from the source in percentage.
Therefore, how to automatically prevent the abnormal operation of the tamping car and avoid the abnormal track lifting or track shifting of the tamping car is a technical problem that needs to be solved by the person skilled in the art at present.
Disclosure of Invention
The purpose of the application is to provide a method for preventing abnormal operation of a tamping car, a system for preventing abnormal operation of the tamping car and the tamping car, which can automatically prevent abnormal operation of the tamping car and avoid abnormal track lifting or abnormal track shifting of the tamping car.
In order to solve the above technical problems, the present application provides a method for preventing abnormal operation of a tamping car, the method for preventing abnormal operation of a tamping car comprising:
acquiring line parameters to be operated, and determining actual line coordinate data corresponding to the line parameters to be operated;
simulating and resolving the actual line coordinate data according to the operation control principle of the tamping car to obtain simulated operation parameters; the simulation operation parameters comprise simulation track lifting quantity and simulation track shifting quantity;
acquiring actual operation parameters of the current operation position of the tamping car; the actual operation parameters comprise an actual track lifting amount and an actual track shifting amount;
calculating the operation parameter deviation of the simulation operation parameter and the actual operation parameter;
judging whether the track lifting quantity and/or the track shifting quantity of the tamping car is abnormal or not according to the deviation of the operation parameters; if yes, intervention is carried out on the tamping operation control system of the tamping car.
Optionally, calculating the operation parameter deviation of the simulated operation parameter and the actual operation parameter includes:
calculating the track lifting deviation between the simulated track lifting and the actual track lifting;
calculating the track shifting quantity deviation of the simulation track shifting quantity and the actual track shifting quantity;
Correspondingly, judging whether the track lifting quantity and/or the track shifting quantity of the tamping car is abnormal according to the deviation of the operation parameters, and comprising the following steps:
if the track lifting quantity deviation exceeds a first threshold range, judging that the track lifting quantity of the tamping car is abnormal;
and if the track shifting quantity deviation exceeds a second threshold range, judging that the track shifting quantity of the tamping car is abnormal.
Optionally, the collecting the line parameters to be operated includes:
detecting a line to be operated of the tamping car by using line accurate detection equipment to obtain parameters of the line to be operated;
the line precise measurement device is used for realizing line parameter measurement based on an absolute position measurement principle or a relative position measurement principle.
Optionally, if the line accurate measurement device is a symmetrical string measurement system, the line accurate measurement device is used to detect a line to be operated of the tamping car, to obtain parameters of the line to be operated, including:
selecting an initial resolving position on a line to be operated of the tamping car by utilizing the symmetrical chord measurement system;
selecting a plurality of measuring point data from the initial resolving position on the line to be operated through the mechanical structure constraint of the symmetrical chord measuring system so that the interval between any two adjacent selected measuring points is a fixed value related to the detected chord length;
And calculating the coordinate position of each measuring point through coordinate iterative calculation and a coordinate alignment algorithm, and determining the line parameters to be operated according to the coordinate positions of all the measuring points.
Optionally, the method further comprises:
determining simulation measurement parameters according to string parameters of a string measurement system of the tamping car and the actual line coordinate data; wherein the simulation detection parameters comprise simulation detection vectors, simulation detection leveling and simulation detection superelevation;
acquiring a sensor detection value of the current operation position of the tamping car; wherein the sensor detection values include a normal sensor value, a leveling sensor value, and an ultra-high detection sensor value;
calculating a sensor detection deviation value according to the simulation measurement parameters and the sensor detection value, and judging whether the sensor detection value is abnormal or not according to the sensor detection deviation value and the change rate of the sensor detection value;
and if the detection value of the sensor is abnormal, the tamping operation control system of the tamping car is interfered.
Optionally, the method further comprises:
carrying out smooth optimization on a line to be operated according to the line speed grade by using a simulation system to obtain a first line theoretical parameter;
And calculating the working front-end offset of the tamping car based on the first line theoretical parameter and the acquired line parameter to be worked, and carrying out offset correction according to the working front-end offset.
Optionally, the method further comprises:
performing simulation calculation by using a simulation system according to the input theoretical line parameters to obtain second line theoretical parameters;
and calculating the working front-end offset of the tamping car based on the second line theoretical parameters and the acquired line parameters to be worked, and carrying out offset correction according to the working front-end offset.
The application also provides a prevention system for abnormal operation of the tamping car, which comprises:
the coordinate determining module is used for collecting the line parameters to be operated and determining actual line coordinate data corresponding to the line parameters to be operated;
the simulation module is used for carrying out simulation calculation on the actual line coordinate data according to the operation control principle of the tamping car to obtain simulation operation parameters; the simulation operation parameters comprise simulation track lifting quantity and simulation track shifting quantity;
the actual operation parameter determining module is used for acquiring actual operation parameters of the current operation position of the tamping car; the actual operation parameters comprise an actual track lifting amount and an actual track shifting amount;
The abnormality detection module is used for calculating the operation parameter deviation between the simulation operation parameter and the actual operation parameter; the track lifting quantity and/or the track shifting quantity of the tamping car are/is abnormal or not according to the deviation of the operation parameters;
and the control module is used for intervening a tamping operation control system of the tamping car if the track lifting quantity and/or the track pulling quantity of the tamping car are abnormal.
Optionally, the simulation module is further configured to determine a simulation measurement parameter according to a string parameter of a string measurement system of the tamping car and the actual line coordinate data; wherein the simulation detection parameters comprise simulation detection vectors, simulation detection leveling and simulation detection superelevation;
correspondingly, the method further comprises the steps of:
the sensor detection value determining module is used for obtaining a sensor detection value of the current operation position of the tamping car; wherein the sensor detection values include a normal sensor value, a leveling sensor value, and an ultra-high detection sensor value;
the abnormality detection module is further used for calculating a sensor detection deviation value according to the simulation measurement parameters and the sensor detection value, and judging whether the sensor detection value is abnormal or not according to the sensor detection deviation value and the change rate of the sensor detection value; and the tamping operation control system is used for interfering the tamping vehicle if the sensor detects that the value is abnormal.
The application also provides a tamping car, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of executing the method for preventing the abnormal operation of the tamping car when calling the computer program in the memory.
The application provides a method for preventing abnormal operation of a tamping car, which comprises the following steps: acquiring line parameters to be operated, and determining actual line coordinate data corresponding to the line parameters to be operated; simulating and resolving the actual line coordinate data according to the operation control principle of the tamping car to obtain simulated operation parameters; the simulation operation parameters comprise simulation track lifting quantity and simulation track shifting quantity; acquiring actual operation parameters of the current operation position of the tamping car; the actual operation parameters comprise an actual track lifting amount and an actual track shifting amount; calculating the operation parameter deviation of the simulation operation parameter and the actual operation parameter; judging whether the track lifting quantity and/or the track shifting quantity of the tamping car is abnormal or not according to the deviation of the operation parameters; if yes, intervention is carried out on the tamping operation control system of the tamping car.
According to the method, the actual line coordinate data are determined by collecting the line parameters to be operated of the tamping car, and simulation calculation is carried out on the actual line coordinate data to obtain the simulation operation parameters. And comparing the actual operation parameters with the simulation operation parameters, wherein the obtained operation parameter deviation comprises the parameter deviation of the simulation track lifting quantity and the actual track lifting quantity and the parameter deviation of the simulation track shifting quantity and the actual track shifting quantity. The method and the device judge whether the track lifting quantity and/or the track shifting quantity of the tamping car are abnormal according to the operation parameter deviation, and intervene in a tamping operation control system when the abnormality exists. The method and the device can automatically prevent the tamping car from abnormal operation, and avoid the abnormal track lifting or track shifting of the tamping car. The application also provides a prevention system for abnormal operation of the tamping car and the tamping car, which have the beneficial effects and are not repeated here.
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For a clearer description of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for preventing abnormal operation of a tamping car according to an embodiment of the present application;
fig. 2 is a schematic diagram of a circuit position calculation of a symmetrical three-point chord measurement system according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a principle model of a vector iteration restoring line measured by a symmetrical three-point chord measurement system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of simulation measurement parameter calculation according to an embodiment of the present disclosure;
FIG. 5 is a block diagram of a control system of a tamping car, according to an embodiment of the present application;
FIG. 6 is a flowchart for preventing abnormal track start and track start provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a system for preventing abnormal operation of a tamping car according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Referring to fig. 1, fig. 1 is a flowchart of a method for preventing abnormal operation of a tamping machine according to an embodiment of the present application.
The specific steps may include:
s101: acquiring line parameters to be operated, and determining actual line coordinate data corresponding to the line parameters to be operated;
the method and the device can be applied to the tamping vehicle or electronic equipment connected with the tamping vehicle, and parameters of the line to be operated of the tamping vehicle can be collected before the tamping vehicle performs tamping operation on the line to be operated. The step may be executed before the tamping machine performs the tamping operation, the line to be operated is a line to be tamping by the tamping machine, and the line parameter to be operated may be coordinates (for example, position coordinate data of the line measured by an absolute position measurement method), or may be relative data such as a direction vector, leveling, and superelevation. On the basis of obtaining the line parameters to be operated, the actual line coordinate data corresponding to the line parameters to be operated can be determined.
As a possible implementation manner, the line precision testing device can be used for detecting the line to be operated of the tamping car, and the parameter of the line to be operated is obtained. The line accurate measurement device can be independent equipment or vehicle-mounted detection equipment integrated in the tamping car. Specifically, the line precise measurement device can realize line parameter measurement based on an absolute position measurement principle or a relative position measurement principle, for example, the line precise measurement device can be precise measurement device based on the absolute position measurement principle, and also can be precise measurement device based on the relative measurement principle, such as symmetrical chord measurement system device and inertial system device.
S102: simulating and resolving the actual line coordinate data according to the operation control principle of the tamping car to obtain simulated operation parameters;
the simulation operation parameters obtained by performing simulation calculation on the actual line coordinate data can comprise a simulation track lifting quantity and a simulation track shifting quantity, and the operation control principle comprises a track lifting operation control principle and a track shifting operation control principle. Specifically, the embodiment can perform simulation calculation on actual line coordinate data based on the track lifting operation control principle to obtain a simulated track lifting quantity, and can perform simulation calculation on the actual line coordinate data based on the track lifting operation control principle to obtain a simulated track lifting quantity.
As a further introduction to the above embodiments, the following compensation mechanisms may be employed to improve the accuracy of the simulation data:
compensation mechanism 1: and according to the operation control principle of the tamping car, synthesizing the last actual operation parameters to simulate and calculate the actual line coordinate data, thereby obtaining the simulated operation parameters. The line coordinates after operation can be updated by introducing the feedback of the last actual operation parameters so as to ensure that the data and parameters of each operation process can be truly simulated. The last actual working parameter is the parameter of the tamping work performed in front of the tamping machine, and the next working is the tamping work to be performed by the tamping machine (i.e. the tamping work performed on the line to be worked). If the line to be operated is the first operation line of the tamping car, the actual operation parameters of the last time are all 0.
Compensation mechanism 2: a plurality of data (including but not limited to the last single tamping operation) of the preamble operation (the vicinity because it is generally considered that the deviation of its external variation factor is not too great in a shorter line area) is collected and analyzed as a delay compensation reference for the following operation.
S103: acquiring actual operation parameters of the current operation position of the tamping car;
The actual operation parameters of the current operation position of the tamping car can be obtained in the process of executing the tamping operation, and the actual operation parameters comprise the actual track lifting quantity and the actual track shifting quantity. Specifically, a real-time calculation system of the tamping car can be used for calculating actual operation parameters of the current position.
S104: calculating the operation parameter deviation of the simulation operation parameter and the actual operation parameter;
the simulation operation parameters are parameters (track starting and track pulling amounts predicted by the tamping car) of operation calculated by the simulation system according to the tamping car operation principle based on precisely measured line parameters (mainly line front end compensation data) and tamping car operation system parameters (such as string parameters), and the actual operation parameters are actual operation parameters calculated by the tamping car operation system according to real-time detected line related parameters and theoretical operation parameters.
S105: judging whether the track lifting quantity and/or the track shifting quantity of the tamping car are abnormal according to the deviation of the operation parameters; if yes, go to S106; if not, ending the flow or re-entering S101;
s106: and intervening a tamping operation control system of the tamping car.
The method and the device for controlling the tamping machine to start and stop the track lifting operation of the tamping machine according to the deviation of the operation parameters judge whether the tamping machine has abnormal track lifting quantity and/or abnormal track pulling quantity, and intervene a tamping operation control system when the abnormality occurs, such as limiting the execution of track lifting and pulling actions or controlling the tamping machine to stop the operation and sending out abnormal information prompt alarm and the like. As a possible implementation mode, if the track lifting amount and the track shifting amount of the tamping car are not abnormal, the tamping car can be controlled to operate according to actual operation parameters.
The embodiment can calculate the track lifting deviation between the simulated track lifting and the actual track lifting; and calculating the track shifting quantity deviation of the simulation track shifting quantity and the actual track shifting quantity. Specifically, the present embodiment may calculate the job parameter deviation in the following manner: and calculating the deviation between the simulated track-lifting quantity and the actual track-lifting quantity before the tamping machine is operated under the pick, and calculating the track-lifting quantity deviation between the simulated track-lifting quantity and the actual track-lifting quantity. Correspondingly, if the track lifting quantity deviation exceeds a first threshold range, judging that the track lifting quantity of the tamping car is abnormal; and if the track shifting quantity deviation exceeds a second threshold range, judging that the track shifting quantity of the tamping car is abnormal.
In the embodiment, the actual line coordinate data is determined by collecting the line parameters to be operated of the tamping car, and the actual line coordinate data is subjected to simulation calculation to obtain the simulation operation parameters. And comparing the actual operation parameters with the simulation operation parameters, wherein the obtained operation parameter deviation comprises the parameter deviation of the simulation track lifting quantity and the actual track lifting quantity and the parameter deviation of the simulation track shifting quantity and the actual track shifting quantity. In this embodiment, whether the track lifting amount and/or the track pulling amount of the tamping car are abnormal is determined according to the deviation of the operation parameters, and the tamping operation control system is interfered when the abnormality exists. The embodiment can automatically prevent the abnormal operation of the tamping car and avoid the abnormal track lifting or track shifting of the tamping car.
As a further introduction to the corresponding embodiment of fig. 1, the present embodiment may collect the line parameters to be operated based on the measurement principle of the symmetrical chord length, the measurement principle of inertia, or the measurement principle of absolute coordinates, and optionally, the present invention proposes a model/method for restoring the line coordinate position and the line shape based on the symmetrical chord measurement system. If the line accurate measurement device is a symmetrical chord measurement system based on a relative measurement principle, the process of determining the line parameters to be operated comprises the following steps: selecting an initial resolving position on a line to be operated of the tamping car by utilizing the symmetrical chord measurement system; selecting a plurality of measuring point data from the initial resolving position on the line to be operated through the mechanical structure constraint of the symmetrical chord measuring system so that the interval between any two adjacent selected measuring points is a fixed value related to the detected chord length; and calculating the coordinate position of each measuring point through coordinate iterative calculation and a coordinate alignment algorithm, and determining the line parameters to be operated according to the coordinate positions of all the measuring points.
Further, before calculating the deviation of the simulated operation parameter from the operation parameter of the actual operation parameter, the embodiment corresponding to fig. 1 may further include the following operations: determining simulation measurement parameters according to string parameters of a string measurement system of the tamping car and the actual line coordinate data; wherein the simulation detection parameters comprise simulation detection vectors, simulation detection leveling and simulation detection superelevation; acquiring a sensor detection value of the current operation position of the tamping car; wherein the sensor detection values include a normal sensor value, a leveling sensor value, and an ultra-high detection sensor value; calculating a sensor detection deviation value according to the simulation measurement parameters and the sensor detection value, and judging whether the sensor detection value is abnormal or not according to the sensor detection deviation value and the change rate of the sensor detection value; if the detection value of the sensor is abnormal, the tamping operation control system of the tamping car is interfered, such as operations of limiting the execution of track starting and track shifting actions or controlling the tamping car to stop operation and sending out abnormal information prompt alarm and the like. The normal vector sensor value is the actual normal vector value detected by the sensor, the leveling sensor value is the actual leveling value detected by the sensor, and the ultrahigh detection sensor value is the actual ultrahigh value detected by the sensor.
As a further introduction to the corresponding embodiment of fig. 1, this embodiment may also implement front-end offset correction by:
mode 1: carrying out smooth optimization on a line to be operated according to the line speed grade by using a simulation system to obtain a first line theoretical parameter; and calculating the working front-end offset of the tamping car based on the first line theoretical parameter and the acquired line parameter to be worked, and carrying out offset correction according to the working front-end offset.
Mode 2: performing simulation calculation according to the input theoretical line parameters (such as design line parameters) by using a simulation system to obtain second line theoretical parameters; and calculating the working front-end offset of the tamping car based on the second line theoretical parameters and the acquired line parameters to be worked, and carrying out offset correction according to the working front-end offset.
The flow described in the above embodiment is explained below by way of an embodiment in practical application.
The embodiment provides an abnormal track lifting and lining preventing mechanism, which is characterized in that data are detected by a track precise testing device before operation, target operation curve parameters are obtained at the same time, track lifting and lining quantity is predicted by a tamping car lifting and lining simulation operation method, lifting and lining thresholds are automatically set according to the predicted lifting and lining quantity, abnormal conditions of lifting and lining are dynamically monitored in the operation process, an alarm is given for the abnormal conditions and the abnormal conditions are transmitted to a tamping car lifting and lining control system, and the operation control system is interfered, so that abnormal track lifting and lining is avoided. The embodiment may include the steps of:
Step 1: acquiring line parameters to be operated and restoring line coordinates;
before tamping operation, line parameter to be operated can be detected by line precision testing equipment, and line coordinate data can be obtained. The detection principle of the conventional circuit fine detection equipment is mainly divided into three types, namely a symmetrical chord length measurement principle, an inertial measurement principle and an absolute coordinate measurement principle. The left and right rail heights are usually measured by an inclination sensor.
The inertial-based measurement system can acquire acceleration in three directions respectively, and acquire the track of the line through secondary integration of time, so that the coordinate position point of the line is obtained. The absolute position coordinates of the line are obtained by a measurement system based on absolute measurement, and the detection parameters are converted into the coordinate system required by calculation, which is not described in detail in this embodiment.
The measuring system based on the three-point symmetrical chord measurement principle can obtain vector values of corresponding kilometers to accurately restore line coordinates, the measuring system is provided with a measuring system which enables BC=CD chord length through mechanical structure constraint, the measuring principle is shown in fig. 2, fig. 2 is a line position resolving schematic diagram of the symmetrical three-point chord measurement system provided by the embodiment of the application, B, C, D is a point on a track, vector distances Ver, x and y are shown in the diagram to represent coordinate axes, wherein B, C, D three points fall on a steel rail, after vector distance Ver value of a C point is measured, the position of a D point is uniquely determined through initializing B, C point coordinate positions according to B, C, D, and therefore, the unique position coordinates of any two points and the vector distance Ver value of a C point can be obtained in the chord measurement system.
Operation (1): to start B in the measurement point 0 The point is the origin of coordinates, B 0 C 0 The vector is X-axis coordinate, and the direction perpendicular to the BC string line is Y-axis, then B 0 Coordinates of points (Xb 0 ，Yb 0 ) Is a known coordinate point (0, 0), the coordinates of C0 (Xc 0 ，Yc 0 ) Is a known coordinate point (Lbc, 0), based on the measured D 0 C corresponding to point kilometer sign 0 Point vector distance value ver_c 0 Can determine B 0 C 0 D 0 Triangle relation of the components. D (D) 0 The solution of the points is the solution of the triangular relationship. According to the known B 0 (Xb 0 ，Yb 0 )、C 0 (Xc 0 ，Yc 0 ) Two-point position, B 0 D 0 Length and B 0 C 0 And C 0 D 0 Relative angular relationship (θ_C) 0 ) The third point D can be calculated 0 Coordinate position D0 (Xd) 0 ，Yd 0 )。
θ_C 0 ＝arcsin(Ver_C 0 /Lbc)；
Xd 0 ＝Lcd+Lbc*cos(2*θ_C 0 )；
Yd 0 ＝Lbc*sin(2*θ_C 0 )；
Operation (2): at the next point C (C 1 Point) falls on D 0 At the point, since bc=cd and according to the linear single-value characteristic of the railway line within the limited detection length, the next point B (B 1 Point) necessarily falls at the last point C (C 0 Point), by B 1 、C 1 The coordinates of the next point D (point D1) can be calculated by adopting the calculation thought proposed by the operation (1) for the two known points.
Operation (3): similarly, when C n Point falling at D n-1 At the point of B n The point necessarily falls at C n-1 Point of passing B n 、C n The two known points can calculate D by adopting the operation (2) calculating thought n And (5) point coordinates. Thus, the sample range can be iteratively calculated as B 0 C 0 And (3) restoring the shape and the position of the line by using the orthogonal coordinate system established for the x-axis and the discrete coordinate position points of the D points at intervals of BC length distances. Referring to fig. 3, fig. 3 is a schematic diagram of a principle model of a vector iterative recovery circuit measured by a symmetrical three-point chord measurement system according to an embodiment of the present application, and in fig. 3, B0 to B8, C0 to C8, and D0 to D8 represent measurement points in a three-point symmetrical chord measurement process . Lbc represents the distance between the point B and the point C, lcd represents the distance between the point C and the point D, and both the distances between Lbc and Lcd are a (a is a preset fixed value).
Xd n ＝Xd n-1 +Lbc*coS(2*θ_C n )；
Yd n ＝Yd n-1 +Lbc*sin(2*θ_C n )；
θ_C n Representation B n C n And C n D n V relative to the angle of (2) er _C i Represent C i Vector distance value, xd, of point n And Yd n Representation D n Coordinate values of the points.
Operation (4): by moving the position of the route restoration starting point, route coordinates with the route interval of BD step length under different starting positions can be iterated. Under the condition that the line coordinates of the initial section are known, the calculated line coordinates can be unified to the initial known coordinate system through a coordinate alignment algorithm, so that the position coordinate positions of all the sample measurement points in the sample range under the unified coordinate system are obtained.
The above operation (4) satisfies: the starting known line segment length needs to be greater than or equal to BC length.
Step 2: carrying out track lifting and track shifting simulation operation;
the track starting and shifting simulation program comprises the functions of smooth optimization of a line, theoretical line calculation, compensation calculation of front-end deviation operation, calculation of line parameters (kilometer post, direction vector, leveling) based on a tamping car chord measurement system and the like; and (3) solving the operation parameters (operation start and track shift amount) of the line based on the tamping car start and track shift control principle by combining the line ultra-high data.
The description of the line smoothing optimization is as follows: according to the line speed grade, the line is automatically optimized under the condition that line parameters such as line shape and the like are not required to be input, the smoothness of the line is improved, the optimized line parameters meet the smoothness requirement of the line passing speed grade, and the optimized line operation theoretical parameters are automatically given to be used for guiding the operation of the tamping vehicle.
The theoretical line solution is described as follows: when the working design line is known and is used as a tamping working alignment target, the input line (line shape) needs to be resolved into working parameters which can be identified and used by the tamping car, such as a direction vector, leveling, superelevation and the like.
The front-end offset job compensation solution is described as follows: the front-end deviation operation compensation data can be provided by accurate measurement data, and optionally, the embodiment provides a method for deducing front-end deviation based on measurement data of a symmetrical chord measurement system: and respectively restoring the target and current line coordinates based on the optimized theoretical operation line (or the input design line parameters) and the detected actual line parameters, calculating the operation front-end offset, and inputting the operation front-end offset into a tamping car operation system as front-end compensation correction so as to reduce operation residual errors caused by the line front-end offset and improve the operation precision of the tamping car.
The simulation measurement parameter calculation is described as follows: and solving the measurement normal vector and leveling simulation measured value based on the string measurement system parameters of the tamping car and the line coordinate parameters corresponding to the kilometer scale interval. Taking a three-point chord measurement system of a tamping car as an example, as shown in fig. 4, fig. 4 is a schematic diagram for calculating simulation measurement parameters, where the BC chord length is Lbc, the BD chord length is Lbd, D point coordinates (Xd, yd) corresponding to the kilometer scale where the D point is located are respectively obtained, line coordinate points with the distance D point length Lbd are found in the opposite direction of the operation as B point coordinates (Xb, yb), and the abscissa X (Lc) and Y (Lc) of the vertical point Lc are calculated by the following formulas:
The equation for line LcC:
the coordinates (Xc, yc) of point C falling on the straight line LcC can be found in the BD line range, and the simulated measurement vector magnitude ver_simu corresponding to the kilometer post of point D is the distance between Lc and point C:
where the positive and negative of ver_simu depend on the left/right position of the BD vector at point C, abs represents an absolute function.
The simulation job parameter calculation is described as follows: according to the control principle of track lifting and track shifting operation of the tamping car, the track lifting and track shifting quantity (e_simuu) in the operation process of the tamping car is calculated in a simulation mode, and meanwhile feedback of actual operation parameters is introduced to timely adjust and reflect the change condition of an actual operation line. After each simulation track starting and track shifting operation is completed, the actual track starting and track shifting amounts of the tamping car operation are fed back to a simulation operation system, so that the line coordinates after the operation are updated, and when the next track starting and track shifting operation data are calculated, operation parameter calculation is performed based on the line coordinates after the previous operation, so that the data and parameters of each operation process can be truly simulated.
Step 3: anomaly monitoring and feedback.
The sensor anomaly detection and feedback is described as follows:
the sensor abnormality mainly comprises sensor clamping stagnation, unstable sensor detection signals, sensor value drift and the like, and the change trend of the sensor detection value, such as the change rate (time change rate sigma) of the detection value, is monitored during the operation of the tamping car t Rate of change of displacement sigma s ) Or the sensor detects the value change curve, and simultaneously compares the simulation measurement parameters to comprehensively analyze the abnormal condition of the sensor.
The following describes the detection of the rate of change of value by the sensor and the feedback control logic: if sigma t ≈0，σ s 0, but sigma t_Ver_simu Not equal to 0, indicating that the sensor is jammed, prompting the sensor to be jammed at the operation interface and suggesting shutdown inspection. If |sigma t -ε t |>Δt or |σ s -ε s |>Deltas, the detection signal of the sensor is unstable, and the operation interface prompts the sensor to detect abnormality and suggests shutdown inspection; wherein epsilon is a preset sensor reasonable rate of change value (epsilon) t For a predetermined time rate of change), Δt is the allowable error range of the time dimension, Δs is the allowable error range of the displacement dimension, where εs is a predetermined value that can be referenced to the rate of change of displacement (σ) of the simulated measurement parameter s_Ver_simu +Δs). If |sigma t -ε t |<Δt，|σ s -ε s |<Δs, and E Ver >ε Ver The sensor detection data is proved to have larger deviation or detection distortion, and the operation interface prompts the sensor to detect abnormality and suggests shutdown inspection and calibration; wherein E is Ver Deviation of the sensor detection value (vector distance: ver) from the simulation detection value (ver_simu): e (E) Ver ＝|Ver-Ver_simu|，ε Ver Is a preset reasonable error.
σ t_Ver_simu Representing the rate of change of the simulated measurement (vector value) with respect to time, σ s_Ver_simu Representing the rate of change of the simulated measurement parameter with respect to displacement.
The explanation of the abnormality detection and feedback of the track starting and lining operation parameters is as follows: the track starting and lining quantity (e_simuu) is given based on the simulation operation parameter calculation system, and a deviation range (delta e) is preset to serve as a track starting and lining quantity threshold value when the tamping car is in positive operation. Based on the sensor measurement value and the target operation line parameter, the tamping car lifting and track shifting control system can calculate the actual lifting and track shifting quantity (e) of the operation point. Before the tamping car executes track starting and track shifting actions, the rationality of e is judged, when |e-e_simu| > delta e, the abnormal track starting and track shifting quantity of the tamping car is indicated, the abnormal track starting and track shifting quantity is prompted at an operation interface, and a track starting and track shifting operation device is controlled in a feedback mode, the track starting and track shifting actions are limited to be executed, and damage to a line is avoided.
Referring to fig. 5, fig. 5 is a frame diagram of a control system of a tamping car provided in an embodiment of the present application, where the frame includes an accurate measurement system, a line restoration and resolving system, a track lifting operation simulation system, a monitoring analysis system, an alarm feedback system, a tamping car measurement system and a track lifting control system.
The accurate measurement system comprises a symmetrical chord measurement system, an inertial measurement system and an absolute measurement system; the line restoration and calculation system can obtain line coordinate parameters and line ultrahigh parameters; the track lifting operation simulation system is used for determining simulation operation parameters, simulation measurement parameters and operation compensation data; the monitoring analysis system is used for realizing detection parameter monitoring and operation parameter monitoring; the alarm feedback system is used for realizing abnormal action feedback and abnormal alarm; the track lifting and lining control system is used for acquiring operation parameters and realizing operation constraint; the tamping car measurement system is used to determine string parameters and measurement parameters.
And detecting data of the related precise detecting equipment, which are acquired by the precise measuring system. And restoring the line coordinates and solving the line ultrahigh data in the line restoration and solving system, and restoring the line coordinates and the line theory ultrahigh of the operation target by inputting the line shape of the operation target or optimizing the detection line. Then, a track lifting and shifting operation simulation system is entered to calculate the compensation data of the front end of the line operation as the compensation data of the accurate operation of the tamping car, and the simulation detection value of the sensor which changes along with the line position is obtained by combining the vehicle string relation simulation line operation process obtained by the tamping car measurement system and is used as the judgment basis data of the monitoring analysis system; the actual track lifting and lifting quantity of the tamping car track lifting and lifting control system is used as an operation feedback value of the simulation system, operation line data in the simulation system are updated in real time, the simulation track lifting and lifting quantity value of the next operation position is calculated, and the calculated simulation track lifting and lifting quantity value is input into the monitoring analysis system and used as operation parameter monitoring basis data. In the monitoring analysis system, the monitoring of abnormal conditions detected by the sensor is realized through the comparative analysis of simulation detection parameters and tamping car actual measurement parameters; the track lifting and shifting control system of the tamping car is monitored based on the threshold range of the track lifting and shifting of the operation system given by the simulation operation parameters; the abnormal condition is fed back to the alarm feedback system for prompting and feedback operation, and for the abnormal condition of the track starting and track shifting quantity, real-time intervention is needed in the action control of the track starting and track shifting operation device, so that line damage is avoided.
The embodiment provides an abnormal track lifting and lining preventing mechanism, which is characterized in that line data detected by a line precise detecting device are obtained before operation, target operation line parameters are obtained, an operation process of lifting and lining of a tamping car is simulated by adopting a simulation operation method, operation process parameters of the tamping car are calculated, track lifting and lining quantities of the tamping car are predicted, track lifting and lining thresholds are automatically set according to the predicted track lifting and lining quantities, abnormal conditions of lifting and lining are dynamically monitored in the operation process, an alarm is given for the abnormal conditions and the alarm is transmitted to a track lifting and lining control system of the tamping car, and the operation control system is interfered to avoid abnormal track lifting and lining.
Referring to fig. 6, fig. 6 is a flowchart of abnormal track start and track lining prevention provided in an embodiment of the present application, including the following steps: measuring the circuit by adopting a precision measuring device; acquiring coordinate parameters of a detection line; acquiring a target operation curve parameter; based on the system parameters measured by the tamping car, carrying out simulation prediction on the line operation parameters through simulation operation; the operation parameters of the tamping car are monitored and analyzed in the operation process by combining with the operation control system of the tamping car; abnormal condition prompt early warning and timely intervention on a tamping car operating system are carried out, so that abnormal track lifting and track shifting are prevented. Before tamping operation, the line parameter is measured by the line fine measuring device, and the line coordinates are obtained or restored according to the fine measuring data. The method comprises the steps of obtaining target operation curve parameters and restoring the target curve coordinates, adopting tamping simulation operation based on actual measurement, the target line coordinates and the tamping car measurement system parameters, simulating the tamping car operation process, predicting the tamping car operation parameters, combining a tamping car operation control system, monitoring and analyzing the tamping car operation parameters in the operation process, giving prompt and early warning when abnormal conditions occur, and timely intervening the tamping car operation system to prevent abnormal lifting and track shifting.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a system for preventing abnormal operation of a tamping car according to an embodiment of the present application, where the system may include:
the coordinate determining module 701 is configured to collect a line parameter to be operated, and determine actual line coordinate data corresponding to the line parameter to be operated;
the simulation module 702 is configured to perform simulation calculation on the actual line coordinate data according to an operation control principle of the tamping vehicle, so as to obtain a simulated operation parameter; the simulation operation parameters comprise simulation track lifting quantity and simulation track shifting quantity;
an actual operation parameter determining module 703, configured to obtain an actual operation parameter of a current operation position of the tamping vehicle; the actual operation parameters comprise an actual track lifting amount and an actual track shifting amount;
an anomaly detection module 704, configured to calculate an operation parameter deviation between the simulated operation parameter and the actual operation parameter; the track lifting quantity and/or the track shifting quantity of the tamping car are/is abnormal or not according to the deviation of the operation parameters;
and the control module 705 is used for intervening the tamping operation control system if the track lifting quantity and/or the track shifting quantity of the tamping car are abnormal.
In the embodiment, the actual line coordinate data is determined by collecting the line parameters to be operated of the tamping car, and the actual line coordinate data is subjected to simulation calculation to obtain the simulation operation parameters. And comparing the actual operation parameters with the simulation operation parameters, wherein the obtained operation parameter deviation comprises the parameter deviation of the simulation track lifting quantity and the actual track lifting quantity and the parameter deviation of the simulation track shifting quantity and the actual track shifting quantity. In this embodiment, whether the track lifting amount and/or the track pulling amount of the tamping car are abnormal is determined according to the deviation of the operation parameters, and the tamping operation control system is interfered when the abnormality exists. The embodiment can automatically prevent the abnormal operation of the tamping car and avoid the abnormal track lifting or track shifting of the tamping car.
The method adopts the line precise measurement equipment to accurately measure the line parameters, introduces the detection data of the line precise measurement equipment, simulates and rapidly predicts the change of the line parameters in the line operation process through the track lifting and track lifting simulation operation system, and combines the track lifting and track lifting operation control system of the tamping car to monitor and predict the abnormal conditions of track lifting and track lifting operation in advance, thereby giving early warning to the abnormal conditions and timely intervening the operation system before operation, and avoiding the abnormal track lifting and track lifting.
Further, an anomaly detection module 704, configured to calculate a track lifting deviation between the simulated track lifting and the actual track lifting; the method is also used for calculating the track-shifting quantity deviation between the simulation track-shifting quantity and the actual track-shifting quantity; the method is also used for judging that the track lifting quantity of the tamping car is abnormal if the track lifting quantity deviation exceeds a first threshold range; and the track shifting device is also used for judging that the track shifting quantity of the tamping car is abnormal if the track shifting quantity deviation exceeds a second threshold range.
Further, the process of collecting the line parameters to be worked by the coordinate determining module 701 includes: detecting a line to be operated of the tamping car by using line accurate detection equipment to obtain parameters of the line to be operated; the line precise measurement device is used for realizing line parameter measurement based on an absolute position measurement principle or a relative position measurement principle.
Further, if the line accurate measurement device is a symmetrical chord measurement system, the coordinate determination module 701 detects a line to be operated of the tamping car by using the line accurate measurement device, and the process of obtaining the parameter of the line to be operated includes: selecting an initial resolving position on a line to be operated of the tamping car by utilizing the symmetrical chord measurement system; selecting a plurality of measurement point data from the initial resolving position on the line to be operated through the mechanical structure constraint of the symmetrical chord measurement system, so that the interval between any two adjacent selected resolving points is a fixed value related to the detected chord length; and calculating the coordinate position of each measuring point through coordinate iterative calculation and a coordinate alignment algorithm, and determining the line parameters to be operated according to the coordinate positions of all the measuring points.
Further, the simulation module is also used for determining simulation measurement parameters according to the string parameters of the string measurement system of the tamping car and the actual line coordinate data; wherein the simulation detection parameters comprise simulation detection vectors, simulation detection leveling and simulation detection superelevation;
correspondingly, the method further comprises the steps of:
the sensor detection value determining module is used for obtaining a sensor detection value of the current operation position of the tamping car; wherein the sensor detection values include a normal sensor value, a leveling sensor value, and an ultra-high detection sensor value;
The abnormality detection module is further used for calculating a sensor detection deviation value according to the simulation measurement parameters and the sensor detection value, and judging whether the sensor detection value is abnormal or not according to the sensor detection deviation value and the change rate of the sensor detection value; and the system is also used for interfering a tamping operation control system of the tamping car and sending out abnormal information prompt alarm if the sensor detects that the value is abnormal.
Further, the method further comprises the following steps:
the first correction module is used for carrying out smooth optimization on the line to be operated according to the line speed grade by utilizing the simulation system to obtain a first line theoretical parameter; and the working front-end offset of the tamping car is calculated based on the first line theoretical parameter and the acquired line parameter to be worked, and offset correction is carried out according to the working front-end offset.
Further, the method further comprises the following steps:
the second correction module is used for carrying out simulation calculation according to the input theoretical line parameters by using the simulation system to obtain second line theoretical parameters; and the working front-end offset of the tamping car is calculated based on the second line theoretical parameters and the acquired line parameters to be worked, and offset correction is carried out according to the working front-end offset.
Since the embodiments of the system portion and the embodiments of the method portion correspond to each other, the embodiments of the system portion refer to the description of the embodiments of the method portion, which is not repeated herein.
The present application also provides a storage medium having stored thereon a computer program which, when executed, performs the steps provided by the above embodiments. The storage medium may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The present application also provides a tamping vehicle, which may include a memory and a processor, where the memory stores a computer program, and the processor may implement the steps provided in the foregoing embodiments when invoking the computer program in the memory. The tamping vehicle can of course also include various network interfaces, power supplies, etc.
In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for preventing abnormal operation of a tamping machine, comprising:
acquiring line parameters to be operated, and determining actual line coordinate data corresponding to the line parameters to be operated;
simulating and resolving the actual line coordinate data according to the operation control principle of the tamping car to obtain simulated operation parameters; the simulation operation parameters comprise simulation track lifting quantity and simulation track shifting quantity;
Acquiring actual operation parameters of the current operation position of the tamping car; the actual operation parameters comprise an actual track lifting amount and an actual track shifting amount;
calculating the operation parameter deviation of the simulation operation parameter and the actual operation parameter;
judging whether the track lifting quantity and/or the track shifting quantity of the tamping car is abnormal or not according to the deviation of the operation parameters; if yes, intervention is carried out on the tamping operation control system of the tamping car.
2. The method of claim 1, wherein calculating an operational parameter deviation of the simulated operational parameter from the actual operational parameter comprises:
calculating the track lifting deviation between the simulated track lifting and the actual track lifting;
calculating the track shifting quantity deviation of the simulation track shifting quantity and the actual track shifting quantity;
correspondingly, judging whether the track lifting quantity and/or the track shifting quantity of the tamping car is abnormal according to the deviation of the operation parameters, and comprising the following steps:
if the track lifting quantity deviation exceeds a first threshold range, judging that the track lifting quantity of the tamping car is abnormal;
and if the track shifting quantity deviation exceeds a second threshold range, judging that the track shifting quantity of the tamping car is abnormal.
3. The method for preventing abnormal operation of a tamping car according to claim 1, wherein the step of collecting the line parameters to be operated comprises:
detecting a line to be operated of the tamping car by using line accurate detection equipment to obtain parameters of the line to be operated;
the line precise measurement device is used for realizing line parameter measurement based on an absolute position measurement principle or a relative position measurement principle.
4. The method for preventing abnormal operation of a tamping car according to claim 3, wherein if the line accurate measurement device is a symmetrical string measurement system, detecting a line to be operated of the tamping car by using the line accurate measurement device to obtain the line parameter to be operated, comprising:
selecting an initial resolving position on a line to be operated of the tamping car by utilizing the symmetrical chord measurement system;
selecting a plurality of measurement point data from the initial resolving position on the line to be operated through the mechanical structure constraint of the symmetrical chord measurement system, so that the interval between any two adjacent selected resolving points is a fixed value related to the detected chord length;
and calculating the coordinate position of each measuring point through coordinate iterative calculation and a coordinate alignment algorithm, and determining the line parameters to be operated according to the coordinate positions of all the measuring points.
5. The method for preventing abnormal operation of a tamping car according to claim 1, further comprising:
determining simulation measurement parameters according to string parameters of a string measurement system of the tamping car and the actual line coordinate data; wherein the simulation detection parameters comprise simulation detection vectors, simulation detection leveling and simulation detection superelevation;
acquiring a sensor detection value of the current operation position of the tamping car; wherein the sensor detection values include a normal sensor value, a leveling sensor value, and an ultra-high detection sensor value;
calculating a sensor detection deviation value according to the simulation measurement parameters and the sensor detection value, and judging whether the sensor detection value is abnormal or not according to the sensor detection deviation value and the change rate of the sensor detection value;
and if the detection value of the sensor is abnormal, the tamping operation control system of the tamping car is interfered.
6. The method for preventing abnormal operation of a tamping car according to claim 1, further comprising:
carrying out smooth optimization on a line to be operated according to the line speed grade by using a simulation system to obtain a first line theoretical parameter;
and calculating the working front-end offset of the tamping car based on the first line theoretical parameter and the acquired line parameter to be worked, and carrying out offset correction according to the working front-end offset.
7. The method for preventing abnormal operation of a tamping car according to claim 1, further comprising:
performing simulation calculation by using a simulation system according to the input theoretical line parameters to obtain second line theoretical parameters;
and calculating the working front-end offset of the tamping car based on the second line theoretical parameters and the acquired line parameters to be worked, and carrying out offset correction according to the working front-end offset.
8. A system for preventing abnormal operation of a tamping car, comprising:
the coordinate determining module is used for collecting the line parameters to be operated and determining actual line coordinate data corresponding to the line parameters to be operated;
the simulation module is used for carrying out simulation calculation on the actual line coordinate data according to the operation control principle of the tamping car to obtain simulation operation parameters; the simulation operation parameters comprise simulation track lifting quantity and simulation track shifting quantity;
the actual operation parameter determining module is used for acquiring actual operation parameters of the current operation position of the tamping car; the actual operation parameters comprise an actual track lifting amount and an actual track shifting amount;
the abnormality detection module is used for calculating the operation parameter deviation between the simulation operation parameter and the actual operation parameter; the track lifting quantity and/or the track shifting quantity of the tamping car are/is abnormal or not according to the deviation of the operation parameters;
And the control module is used for intervening a tamping operation control system of the tamping car if the track lifting quantity and/or the track pulling quantity of the tamping car are abnormal.
9. The system for preventing abnormal operation of a tamping car according to claim 8, wherein the simulation module is further configured to determine a simulation measurement parameter according to a string parameter of a string measurement system of the tamping car and the actual line coordinate data; wherein the simulation detection parameters comprise simulation detection vectors, simulation detection leveling and simulation detection superelevation;
correspondingly, the method further comprises the steps of:
the sensor detection value determining module is used for obtaining a sensor detection value of the current operation position of the tamping car; wherein the sensor detection values include a normal sensor value, a leveling sensor value, and an ultra-high detection sensor value;
the abnormality detection module is further used for calculating a sensor detection deviation value according to the simulation measurement parameters and the sensor detection value, and judging whether the sensor detection value is abnormal or not according to the sensor detection deviation value and the change rate of the sensor detection value; and the tamping operation control system is used for interfering the tamping vehicle if the sensor detects that the value is abnormal.
10. A tamping vehicle comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the steps of the method for preventing abnormal operation of the tamping vehicle according to any one of claims 1 to 7 when calling the computer program in the memory.
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| CN202311363589.7A CN117669131A (en) | 2023-10-19 | 2023-10-19 | Method and system for preventing abnormal operation of tamping car and tamping car |
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