CN117863888A - Pantograph device and regulation and control method thereof - Google Patents
Pantograph device and regulation and control method thereof Download PDFInfo
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- CN117863888A CN117863888A CN202410277886.8A CN202410277886A CN117863888A CN 117863888 A CN117863888 A CN 117863888A CN 202410277886 A CN202410277886 A CN 202410277886A CN 117863888 A CN117863888 A CN 117863888A
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Abstract
The invention provides a pantograph device and a regulating and controlling method thereof, which relate to the technical field of pantograph net electric arcs and comprise a pantograph, a comprehensive data acquisition device, a first regulating and controlling device and a second regulating and controlling device, wherein the pantograph is arranged below a contact line, and one side of the pantograph is provided with a sliding rail; the comprehensive data acquisition device is fixedly arranged on the pantograph, a groove is formed in the comprehensive data acquisition device, and the groove is matched with the sliding rail; the first regulation and control device is arranged at one side of the comprehensive data acquisition device, and the first regulation and control device is arranged at one side far away from the pantograph; the second regulation and control device is fixedly arranged on the comprehensive data acquisition device, the second regulation and control device is arranged in parallel with the pantograph, the second regulation and control device comprises a first sub regulation and control device and a second sub regulation and control device, and the first sub regulation and control device and the second sub regulation and control device are symmetrically arranged on two sides of the first regulation and control device.
Description
Technical Field
The invention relates to the technical field of bow net electric arcs, in particular to a pantograph device and a regulating and controlling method thereof.
Background
In an electrified railway system, an electric locomotive obtains energy through an archwire system. In the running process of the train, the bow net system cannot keep a good sliding electric contact state due to mechanical impact and the existence of a hard point of a contact line. When the pantograph is abnormally separated from the contact line, an arc net arc is generated between the pantograph and the contact line, related equipment of the pantograph net system is damaged, the contact line and the pantograph slide plate are ablated, even serious accidents such as power failure and parking are caused, the movement of an arc root can be prevented from being intensively ablated, the loss of the slide plate is reduced, meanwhile, when the double-pantograph is operated, the front pantograph burns the surrounding air to heat the surrounding air, so that the rear pantograph is easier to start, and the research in the field is blank at present, so that a pantograph device and a regulating and controlling method thereof are needed, and can be used for regulating and controlling the movement of the arc to alleviate the centralized erosion.
Disclosure of Invention
The invention aims to provide a pantograph device and a regulating method thereof so as to solve the problems. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
in one aspect, the present application provides a pantograph apparatus, the apparatus comprising: the device comprises a pantograph, a comprehensive data acquisition device, a first regulation and control device and a second regulation and control device, wherein the pantograph is arranged below a contact line, the pantograph and the contact line are arranged at intervals, and a sliding rail is arranged on one side of the pantograph; the comprehensive data acquisition device is fixedly arranged on the pantograph, a groove is formed in the comprehensive data acquisition device, and the groove is matched with the sliding rail; the first regulation and control device is arranged on one side of the comprehensive data acquisition device, is arranged on one side far away from the pantograph and is used for generating a controllable magnetic field; the second regulation and control device is fixedly arranged on the comprehensive data acquisition device, the second regulation and control device is arranged in parallel with the pantograph, the second regulation and control device comprises a first sub-regulation and control device and a second sub-regulation and control device, the first sub-regulation and control device and the second sub-regulation and control device are symmetrically arranged on two sides of the first regulation and control device, and the second regulation and control device is used for traction electric arc.
In another aspect, the present application provides a method for controlling a pantograph device, the method comprising:
acquiring pressure information between a contact line and a pantograph;
judging whether to send a first action instruction according to the pressure information between the contact line and the pantograph, wherein the first action instruction is used for controlling the action of the temperature sensor;
acquiring temperature data of a contact point of the contact line and the pantograph in response to the first action instruction;
judging whether to send a second action instruction according to the temperature data of the contact point of the contact line and the pantograph, wherein the second action instruction is used for controlling the actions of the first regulating device and the second regulating device;
and responding to the second action instruction, and controlling the first regulating device and the second regulating device to act so as to pull the arc to the arc striking angle.
The beneficial effects of the invention are as follows:
according to the invention, the pressure information and the temperature information of the pantograph are collected through the comprehensive data collection device to judge the arcing position of the electric arc, and then the second regulation device is used for generating a controllable magnetic field to pull the electric arc to the first regulation device so as to change the arc root ablation point and the range of the electric arc for heating air, so that the damage of concentrated ablation of the electric arc to the pantograph is effectively reduced, and the normal operation of the pantograph is ensured.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a pantograph device according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a first rotating shaft and a second rotating shaft according to an embodiment of the present invention.
The marks in the figure: 1. a contact line; 2. a pantograph; 3. an arc; 4. a comprehensive data acquisition device; 5. a first insulating support arm; 6. a second insulating support arm; 7. an exciting coil; 8. a first telescoping insulating support arm; 9. a first arc striking angle; 10. a slide rail; 11. a first rotating shaft; 12. and a second rotating shaft.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Example 1
As shown in fig. 1, the present embodiment provides a pantograph device, which includes a pantograph 2, a comprehensive data acquisition device 4, a first regulation device and a second regulation device, wherein the pantograph 2 is disposed below a contact line 1, the pantograph 2 is disposed at intervals from the contact line 1, and a sliding rail 10 is disposed at one side of the pantograph 2; the comprehensive data acquisition device 4 is fixedly arranged on the pantograph 2, a groove is formed in the comprehensive data acquisition device 4, and the groove is matched with the sliding rail 10; the first regulating device is arranged on one side of the comprehensive data acquisition device 4, is arranged on one side far away from the pantograph 2 and is used for generating a controllable magnetic field; the second regulation and control device is fixedly arranged on the comprehensive data acquisition device 4, the second regulation and control device is arranged in parallel with the pantograph 2, the second regulation and control device comprises a first sub regulation and control device and a second sub regulation and control device, the first sub regulation and control device and the second sub regulation and control device are symmetrically arranged on two sides of the first regulation and control device, the second regulation and control device is used for dragging an electric arc 3, the comprehensive data acquisition device 4 comprises a temperature sensor, a mechanical sensor and an optical sensor, the temperature sensor is used for acquiring temperature information of a contact point of the contact line 1 and the pantograph 2, and the mechanical sensor is used for acquiring contact pressure of the contact line 1 and the pantograph 2; the optical sensor is used for monitoring the friction point position and the arcing position of the pantograph 2 and the contact line 1, the comprehensive data acquisition device 4 is connected with the PC database to upload the acquired data into the PC database, the PC database is connected with the PC server, and the PC server is used for controlling the action of the exciting power supply current controller, the comprehensive data acquisition device 4, the second regulation and control device and the first regulation and control device.
As shown in fig. 2, in a specific embodiment of the present disclosure, the first adjusting device includes a first insulating support arm 5, a second insulating support arm 6, and an exciting coil 7, where the first insulating support arm 5 is fixedly disposed on the integrated data acquisition device 4, the second insulating support arm 6 is connected to the first insulating support arm 5, the exciting coil 7 is sleeved on the second insulating support arm 6, the first insulating support arm 5 is connected to the integrated data acquisition device 4 through a first rotating shaft 11, the second insulating support arm 6 is connected to the first insulating support arm 5 through a second rotating shaft 12, the positions of the first insulating support arm 5 and the second insulating support arm 6 are controlled through the first rotating shaft 11 and the second rotating shaft 12 to control the magnetic field direction, and the exciting coil 7 is used to generate an alternating magnetic field to make the electric arc 3 move on the pantograph 2.
In a specific embodiment of the present disclosure, the first sub-regulation device includes a first arc striking angle 9 and a first telescopic insulating support arm 8, the first telescopic insulating support arm 8 is fixedly disposed on the integrated data acquisition device 4, the first arc striking angle 9 is in telescopic connection with the first telescopic insulating support arm 8, the first arc striking angle 9 is used for drawing the arc 3 to move, changing the position of the etching point of the arc 3, a rotating shaft is also disposed between the first arc striking angle 9 and the first telescopic insulating support arm 8, the first arc striking angle 9 can be extended through the rotating shaft, and the setting mode of the second sub-regulation device is the same as that of the first sub-regulation device, so that details are not repeated here, and it is necessary to describe that the material of the first arc striking angle 9 can use a dock, and tungsten is a metal with high melting point and corrosion resistance, and is usually used in a high temperature environment. The high melting point of the tungsten is helpful for slowing down the abrasion of the striking angle, and meanwhile, the tungsten also has good heat conductivity, so that the extinction of the electric arc 3 can be accelerated.
In one embodiment of the present disclosure, the length of the first telescopic insulating support arm 8 is greater than the pull-out value of the contact wire 1 to prevent interference with the normal operation of the bowing net system when the striking angle is extended.
Example 2
The embodiment provides a pantograph device regulation and control method, which comprises the following steps:
step S1, acquiring pressure information between a contact line 1 and a pantograph 2;
in this step, the contact pressure of the contact wire 1 and the pantograph 2 is acquired by a mechanical sensor included in the integrated data acquisition device 4 to obtain pressure information.
Step S2, judging whether to send a first action instruction according to pressure information between the contact line 1 and the pantograph 2, wherein the first action instruction is used for controlling the action of a temperature sensor;
in this step, if the pressure is reduced to a preset contact pressure critical value, it indicates that the contact wire 1 is abnormally separated from the pantograph 2, and an arc 3 is about to be generated, and the pc server sends a first action command to control the temperature sensor to start working.
Step S3, responding to the first action instruction, and acquiring temperature data of a contact point of the contact line 1 and the pantograph 2;
step S4, judging whether to send a second action instruction according to the temperature data of the contact point of the contact line 1 and the pantograph 2, wherein the second action instruction is used for controlling the actions of the first regulation device and the second regulation device;
in this step, the temperature sensor transmits the temperature data of the contact point to the PC server, compares with the preset melting point temperature of the carbon slider material, and if the temperature rises to the preset melting point temperature of the carbon slider material, the PC server controls the integrated data acquisition device 4 to stop moving and sends an action command to the excitation exciter and the arc striking angle, wherein the action command indicates that the arc 3 starts to erode the carbon slider.
And S5, responding to the second action instruction, and controlling the first regulating device and the second regulating device to act so as to draw the arc 3 to the arc striking angle.
The step S5 further includes a step S51, a step S52, a step S53, and a step S54, where the method specifically includes:
step S51, acquiring running direction information of a vehicle;
step S52, determining the position of the next contact point of the contact net and the pantograph 2 according to the running direction information of the vehicle;
step S53, determining an action signal according to the position of the next contact point of the contact net and the pantograph 2, wherein the action signal is used for controlling the action of the first sub-regulation device or the second sub-regulation device;
and step S54, pulling the arc 3 to an arc striking angle according to the action signal.
In this embodiment, as shown in fig. 1, if an abnormal arcing occurs between the pantograph 2 and the contact wire 1, and the next friction point between the pantograph 2 and the contact wire 1 is on the left side of the arcing point, the PC end controls to raise the first telescopic insulating support arm 8 and the first striking angle 9 on the right side of the arcing point, so as to move the arc 3 to the first striking angle 9 on the right side, and at the same time, according to the left hand rule, the magnetic field direction applied to the arc 3 should be perpendicular to the extending direction of the pantograph 2 and flow inwards of the arc 3, and according to the right hand screw rule, the second insulating support arm 6 is parallel to the magnetic field direction towards the arc 3, and the current in the exciting coil 7 flows clockwise, which is specifically based on the following principle: the movement direction of the arc 3 is determined by the magnetic field direction based on the left hand rule, the magnetic field direction is determined by the current direction in the exciting coil based on the right hand spiral rule, and the current direction in the exciting coil is controlled according to the arc movement direction (movement to the rising arc striking angle).
The step S54 further includes a step S541, a step S542, a step S543, and a step S544, where the method specifically includes:
step S541, arc image information is obtained;
in this step, arc image information is acquired by an optical sensor in the integrated data acquisition device 4.
S542, identifying the arc image information by utilizing a target detection algorithm to obtain an arc root image;
step S5421, step S5422, step S5423, and step S5424 are further included in step S542, which specifically includes:
step S5421, obtaining at least one historical arc image;
in the step, after a plurality of historical arc images are obtained, the historical arc images are required to be marked, specifically, the outline of the arc in each historical arc image is identified, and frame selection and marking are carried out by using a circular anchor frame along the outline, so that a sample set is constructed.
S5422, classifying the historical arc images according to arc forms, and clustering the classified historical arc images according to the types to obtain clustering results, wherein the clustering results comprise round anchor frames of each arc form;
in the step, clustering is carried out on the circular anchor frames marked in the sample set, and the circular anchor frames in each arc shape are obtained.
S5423, establishing a target detection algorithm according to the clustering result, and constructing a training set according to the historical arc images to train to obtain an arc image recognition model;
step S5423 further includes step S54231, step S54232, and step S54233, where specific steps include:
step S54231, taking a round anchor frame as an anchor frame parameter in a target detection algorithm;
in this step, since the form of the arc is not regular, the accuracy of detecting the target by using the rectangular anchor frame in the prior art is not high, and therefore, the accuracy of detecting the arc root position of the arc image can be improved by replacing the rectangular anchor frame with the circular anchor frame.
Step S54232, optimizing the loss function according to the characteristics of the round anchor frame to obtain an optimized loss function;
in this step, the loss function needs to be further optimized due to the modification of the anchor frame parameters, wherein the loss function is specifically:
in the above-mentioned formula(s),is a loss value, < >>For the cross ratio of the predicted circle frame A and the predicted circle frame B, ">For predicting the area of the circle frame C, +.>The area of the union of the predicted circle frame A and the predicted circle frame B is defined.
And step S54233, training a target detection algorithm according to the optimized loss function to obtain an arc image recognition model.
And step S5424, transmitting the arc image to the arc image recognition model to obtain an arc root image.
Step S543, the arc root image is sent to a combined regulation mathematical model to obtain control parameters, wherein the combined regulation mathematical model is used for outputting the current intensity and the current direction of the exciting coil 7 and the rotation angles of the first rotating shaft 11 and the second rotating shaft 12;
in the step, the establishment process of the combined regulation mathematical model is as follows: 1. defining an output layer as the current intensity, the current direction and the rotation angles of the first rotating shaft 11 and the second rotating shaft 12 in the exciting coil 7; 2. defining an input layer as the current temperature, wind speed and other environmental factors and the identified arc root position; 3. predicting a change in the magnetic field using a deep learning model; 4. adjusting the current intensity of the exciting coil and the direction of the insulating arm, wherein limiting conditions can be added to ensure that the current intensity and the direction are in a reasonable range; 5. the input and output are extracted from the training data, the data are converted into NumPy arrays, and the regulation of the magnetic field direction and the magnetic intensity can be realized by establishing a combined regulation mathematical model, for example: when the position of the arc root is judged to be required to lead the arc 3 to the first arc striking angle 9, the magnetic field direction at the moment is vertical to the extending direction of the pantograph 2 and the direction of the arc 3, the second insulating support arm 6 faces the arc 3 to be parallel to the magnetic field direction according to the right-hand spiral rule, the current in the exciting coil 7 flows clockwise, and the setting of the magnetic field direction can be realized by combining the output result of the regulation mathematical model so as to ensure that the arc 3 is led to the first arc striking angle 9.
Step S544, controlling the first adjusting and controlling device according to the control parameter.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention.
Claims (10)
1. A pantograph apparatus, comprising:
the pantograph (2) is arranged below the contact line (1), the pantograph (2) and the contact line (1) are arranged at intervals, and a sliding rail (10) is arranged on one side of the pantograph (2);
the comprehensive data acquisition device (4), the comprehensive data acquisition device (4) is fixedly arranged on the pantograph (2), a groove is formed in the comprehensive data acquisition device (4), and the groove is matched with the sliding rail (10);
the first regulation and control device is arranged on one side of the comprehensive data acquisition device (4), is arranged on one side far away from the pantograph (2) and is used for generating a controllable magnetic field; and
the second regulation and control device is fixedly arranged on the comprehensive data acquisition device (4), the second regulation and control device is parallel to the pantograph (2), the second regulation and control device comprises a first sub-regulation and control device and a second sub-regulation and control device, the first sub-regulation and control device and the second sub-regulation and control device are symmetrically arranged on two sides of the first regulation and control device, and the second regulation and control device is used for traction of an electric arc (3).
2. The pantograph device according to claim 1, wherein the first regulating device comprises a first insulating support arm (5), a second insulating support arm (6) and an exciting coil (7), the first insulating support arm (5) is fixedly arranged on the integrated data acquisition device (4), the second insulating support arm (6) is connected with the first insulating support arm (5), and the exciting coil (7) is sleeved on the second insulating support arm (6).
3. The pantograph device according to claim 2, wherein the first insulating support arm (5) is connected to the integrated data acquisition device (4) by a first shaft (11), and the second insulating support arm (6) is connected to the first insulating support arm (5) by a second shaft (12).
4. The pantograph device according to claim 1, wherein the first sub-regulation device comprises a first arc striking angle (9) and a first telescopic insulating support arm (8), the first telescopic insulating support arm (8) is fixedly arranged on the integrated data acquisition device (4), and the first arc striking angle (9) is in telescopic connection with the first telescopic insulating support arm (8).
5. The pantograph device according to claim 4, characterized in that the length of the first telescopic insulating support arm (8) is greater than the contact wire (1) pull-out value.
6. A pantograph control method using the pantograph device according to any one of claims 1 to 5, comprising the steps of:
acquiring pressure information between the contact line (1) and the pantograph (2);
judging whether to send a first action instruction according to pressure information between the contact line (1) and the pantograph (2), wherein the first action instruction is used for controlling the action of a temperature sensor;
acquiring temperature data of a contact point of the contact line (1) and the pantograph (2) in response to the first action instruction;
judging whether to send a second action instruction according to the temperature data of the contact point of the contact line (1) and the pantograph (2), wherein the second action instruction is used for controlling the actions of the first regulating device and the second regulating device;
and responding to the second action instruction, and controlling the first regulating device and the second regulating device to act so as to pull the arc (3) to the arc striking angle.
7. The pantograph control method of claim 6, wherein controlling the first control device and the second control device to operate to draw an arc (3) onto an arc striking angle includes:
acquiring running direction information of a vehicle;
determining the position of the next contact point of the contact net and the pantograph (2) according to the running direction information of the vehicle;
determining an action signal according to the position of the next contact point of the contact net and the pantograph (2), wherein the action signal is used for controlling the action of the first sub-regulation device or the second sub-regulation device;
and drawing the arc (3) to an arc striking angle according to the action signal.
8. The pantograph control method according to claim 7, wherein pulling an arc (3) onto an arc striking angle according to the action signal, comprises:
acquiring arc image information;
identifying the arc image information by utilizing a target detection algorithm to obtain an arc root image;
the arc root image is sent to a combined regulation mathematical model to obtain control parameters, and the combined regulation mathematical model is used for outputting the current intensity and the current direction of the exciting coil (7) and the rotation angles of the first rotating shaft (11) and the second rotating shaft (12);
and controlling the first regulating and controlling device according to the control parameters.
9. The pantograph control method of claim 8, wherein identifying the arc image information using a target detection algorithm includes:
acquiring at least one historical arc image;
classifying the historical arc images according to arc forms, and clustering the classified historical arc images according to the types to obtain clustering results, wherein the clustering results comprise round anchor frames of each arc form;
establishing a target detection algorithm according to the clustering result, and constructing a training set according to the historical arc images to train to obtain an arc image recognition model;
and sending the arc image to the arc image recognition model to obtain an arc root image.
10. The pantograph control method of claim 9, wherein training based on the historical arc image formation training set to obtain an arc image recognition model includes:
taking the round anchor frame as an anchor frame parameter in a target detection algorithm;
optimizing the loss function according to the characteristics of the round anchor frame to obtain an optimized loss function;
and training a target detection algorithm according to the optimized loss function to obtain an arc image recognition model.
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