CN210221512U - Bogie unstability monitored control system - Google Patents
Bogie unstability monitored control system Download PDFInfo
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- CN210221512U CN210221512U CN201921458949.0U CN201921458949U CN210221512U CN 210221512 U CN210221512 U CN 210221512U CN 201921458949 U CN201921458949 U CN 201921458949U CN 210221512 U CN210221512 U CN 210221512U
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Abstract
The utility model relates to a rail vehicle detects technical field, its aim at provides a bogie unstability monitored control system. The utility model comprises a control module, a vibration detection module, an analog-to-digital conversion module, a communication module and a power module, wherein the vibration detection module is electrically connected with the control module through the analog-to-digital conversion module, the communication module is electrically connected with the control module, and the power module is respectively electrically connected with the vibration detection module, the analog-to-digital conversion module, the control module and the communication module; the vibration detection module is used for detecting a transverse vibration signal of the bogie and then sending the transverse vibration signal to the analog-to-digital conversion module; the analog-to-digital conversion module is used for converting the transverse vibration signal of the bogie into an electric signal and then sending the electric signal to the control module; and the control module is used for receiving and processing the electric signal and then sending the processed electric signal to the communication module. The utility model discloses can monitor the transverse vibration signal of vehicle bogie, do benefit to the emergence that prevents the vehicle derailment accident.
Description
Technical Field
The utility model relates to a rail vehicle detects technical field, especially relates to a bogie unstability monitored control system.
Background
As one of the main high-speed rail industrial countries in the world, China develops high-speed rails very quickly since the high-speed rails are opened in 2008. The highway network of the high-speed railway in China is different from European and Japanese high-speed railways, mainly shows that the scale of the road network is large, the coverage area is wide, the geographic conditions, the geological conditions and the climatic conditions are complicated and changeable, compared with the subway and the common railway, the running speed of the high-speed railway is higher, and the working conditions of all parts of the high-speed railway in China are extremely bad due to the factors.
The bogie is one of the most important parts in a high-speed rail structure, and at present, in the aspect of a railway vehicle bogie instability monitoring system, a domestic high-speed motor train unit does not have a complete bogie instability monitoring system, so that a plurality of high-speed train rotating part fault events occur to date, and railway headquarters and various main engine plants clearly put forward additional installation requirements on the system.
Disclosure of Invention
In order to solve the above-mentioned problem that prior art exists, the utility model provides a bogie unstability monitored control system.
The utility model adopts the technical proposal that:
a bogie instability monitoring system comprises a control module, a vibration detection module, an analog-to-digital conversion module, a communication module and a power module, wherein the vibration detection module is electrically connected with the control module through the analog-to-digital conversion module;
the vibration detection module is used for detecting a transverse vibration signal of the bogie and then sending the transverse vibration signal to the analog-to-digital conversion module;
the analog-to-digital conversion module is used for converting the transverse vibration signal of the bogie into an electric signal and then sending the electric signal to the control module;
the control module is used for receiving and processing the electric signal and then sending the processed electric signal to the communication module;
and the power supply module is used for providing electric power support for the vibration detection module, the analog-to-digital conversion module, the control module and the communication module.
Preferably, the bogie instability monitoring system further comprises a filtering module, the vibration detection module is electrically connected with the analog-to-digital conversion module through the filtering module, and the filtering module is further electrically connected with the power supply module;
the filtering module is used for receiving the transverse vibration signal of the bogie detected by the vibration detection module, filtering the transverse vibration signal of the bogie, and then sending the processed transverse vibration signal of the bogie to the analog-to-digital conversion module.
Preferably, the bogie instability monitoring system further comprises an alarm module, wherein the alarm module is electrically connected with the control module and the power module respectively;
the control module is also used for sending an alarm signal to the alarm module when the electric signal is higher than a preset electric signal threshold value;
and the alarm module is used for generating alarm information after receiving the alarm signal.
Preferably, the power supply module includes a core power supply module, a power interface and a voltage stabilizing module, a power input end of the core power supply module is electrically connected to the main power supply through the power interface, and a power output end of the core power supply module is electrically connected to the vibration detection module, the analog-to-digital conversion module, the control module and the communication module through the voltage stabilizing module.
Further preferably, the power supply module further includes an input filter protection circuit, and a power supply input end of the core power supply module is electrically connected to the power supply interface through the input filter protection circuit.
Further preferably, the power supply module further includes an output filter protection circuit, and the power supply output end of the core power supply module is electrically connected to the voltage stabilization module through the output filter protection circuit.
Further preferably, the core power module is implemented by using an isolated power module with a model number of URB1D12 YMD-6W.
The beneficial effects of the utility model are concentrated and are embodied in:
1) the transverse vibration signal of the vehicle bogie can be monitored, so that the occurrence of vehicle derailment accidents is favorably prevented; specifically, in the implementation process of the embodiment, the vibration detection module detects a transverse vibration signal of the bogie, then sends the transverse vibration signal of the bogie to the analog-to-digital conversion module to be converted into an electric signal, and finally processes the electric signal through the control module and sends the electric signal to the communication module through the communication module, and the communication module can give an alarm to the outside, so that the vibration condition of the vehicle bogie is monitored in real time, data acquisition is convenient, and the occurrence of a vehicle derailment accident is favorably prevented;
2) the input precision of the transverse vibration signal of the bogie is high, which is beneficial to ensuring the reliability and accuracy of the diagnosis result; the filtering module can filter transverse vibration signals of the bogie detected by the vibration detection module, can filter interference such as field electromagnetism, electric fields, harmonic waves and the like, can well inhibit strong voltage interference from the environment, effectively inhibits common mode and differential mode interference, effectively inputs useful signals to the post-stage conversion processing, and greatly improves the precision and accuracy of the input electric signals;
3) a clean and stable power supply can be input; specifically, in the power supply module, the power supply is filtered and isolated sequentially through the input filter protection circuit, the core power supply module and the output filter protection circuit, so that the cleanness and stability of the input power supply are effectively guaranteed, and the stability of system operation can be effectively guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a control block diagram of the present invention;
fig. 2 is a schematic circuit diagram of a control module according to the present invention;
FIG. 3 is a schematic circuit diagram of a vibration detection module according to the present invention;
fig. 4 is a schematic circuit diagram of an analog-to-digital conversion module according to the present invention;
fig. 5 is a schematic circuit diagram of a communication module according to the present invention;
fig. 6 is a schematic circuit diagram of the filtering module of the present invention;
fig. 7 is a schematic circuit diagram of the alarm module of the present invention;
fig. 8 is a schematic circuit diagram of the core power module, the input filter protection circuit, the output filter protection circuit, and the power interface of the present invention;
fig. 9 is a schematic circuit diagram of the voltage stabilizing module of the present invention;
fig. 10 is a schematic circuit diagram of a debug module according to the present invention;
fig. 11 is a schematic circuit diagram of the clock module according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that, for the term "and/or" as may appear herein, it is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time; for the term "/and" as may appear herein, which describes another associative object relationship, it means that two relationships may exist, e.g., a/and B, may mean: a exists independently, and A and B exist independently; in addition, for the character "/" that may appear herein, it generally means that the former and latter associated objects are in an "or" relationship.
It will be understood that when an element is referred to herein as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. Conversely, if a unit is referred to herein as being "directly connected" or "directly coupled" to another unit, it is intended that no intervening units are present. In addition, other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
It should be understood that specific details are provided in the following description to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example 1:
the embodiment provides a bogie instability monitoring system, as shown in fig. 1, which includes a control module, a vibration detection module, an analog-to-digital conversion module, a communication module and a power supply module, wherein the vibration detection module is electrically connected with the control module through the analog-to-digital conversion module, the communication module is electrically connected with the control module, and the power supply module is electrically connected with the vibration detection module, the analog-to-digital conversion module, the control module and the communication module respectively;
the vibration detection module is used for detecting a transverse vibration signal of the bogie and then sending the transverse vibration signal to the analog-to-digital conversion module;
the analog-to-digital conversion module is used for converting the transverse vibration signal of the bogie into an electric signal and then sending the electric signal to the control module;
the control module is used for receiving and processing the electric signal and then sending the processed electric signal to the communication module; it should be understood that the control module may be in communication connection with a user terminal through the communication module, where the user terminal is any one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, an intelligent watch, and a VR wearable device;
and the power supply module is used for providing power support for the vibration detection module, the analog-to-digital conversion module, the control module and the communication module.
In this embodiment, as shown in fig. 2, the control module is implemented by a single chip microcomputer of a model STM32F407VGT6-100, has high working performance and working frequency up to 168MHz, supports all ARM single-precision data processing instructions and data types, and can also enhance the security of an application program.
As shown in fig. 3, the vibration detection module is electrically connected to the power supply module through a voltage reference chip U12, wherein the voltage reference chip U12 is a voltage reference chip with the model of REF5050AIDGKT, which has the advantages of low noise, extremely low drift, high precision, and the like, and can provide a reference voltage for the vibration detection module. The vibration detection module comprises an acceleration sensor interface and an acceleration sensor, the acceleration sensor is electrically connected with the analog-to-digital conversion module through the acceleration sensor interface MEMS1, and particularly, the acceleration sensor can be realized by adopting an acceleration sensor with model number 2220E or SE870 series, but not limited to. In the present embodiment, the acceleration sensor is provided transversely to the bogie, where the transverse direction is a direction perpendicular to the traveling direction of the vehicle such as a high-speed rail, a train, or an automobile, and the acceleration sensor is provided transversely to detect the magnitude of acceleration caused by centrifugal force generated when the vehicle travels while turning, that is, the magnitude of lateral force of the vehicle in a direction away from a predetermined direction, thereby achieving the function of detecting a transverse vibration signal of the bogie.
As shown in fig. 4, the analog-to-digital conversion module is implemented by an analog-to-digital converter of ADS7822, and has a resolution of 12 bits, a sampling rate of 200KHz, a communication rate of 10KHz to 3.2MHz, and a strong performance.
As shown in fig. 5, which is a schematic circuit diagram of a communication module, the communication module is implemented by a CAN communication module, and a CAN bus of a vehicle CAN be electrically connected to the communication module through a communication interface P3, so as to implement communication connection between a control terminal and the control module in the vehicle.
Furthermore, the bogie instability monitoring system of the embodiment further comprises a filtering module, the vibration detection module is electrically connected with the analog-to-digital conversion module through the filtering module, and the filtering module is also electrically connected with the power supply module;
and the filtering module is used for receiving the transverse vibration signal of the bogie detected by the vibration detection module, filtering the transverse vibration signal of the bogie, and then sending the processed transverse vibration signal of the bogie to the analog-to-digital conversion module.
In this embodiment, after the filter module receives the transverse vibration signal of the bogie, a preceding stage of filtering processing is performed, the filter module adopts an LC filter circuit design, which can filter out interference such as field electromagnetism, electric field, harmonic wave, and the like, and simultaneously, the filter module can well suppress strong voltage interference from the environment, effectively suppress common mode and differential mode interference, and effectively input useful signals to a subsequent stage of conversion processing, thereby greatly improving the accuracy and accuracy of the input electrical signals, and finally, the transverse vibration signal of the bogie is converted into an electrical signal through the analog-to-digital conversion module and then output a clean electrical signal.
Specifically, as shown in fig. 6, the filtering module includes a two-way operational amplifier U15, a thirty-fourth resistor R34, a forty-first capacitor C41, a thirty-third resistor R33, a forty-third capacitor C43, a thirty-sixth resistor R36, a forty-fourth capacitor C44, a forty-second capacitor C42, and a thirty-fifth resistor R35; a first synchronous signal input end of the two-way operational amplifier U15 is electrically connected with the vibration detection module sequentially through a thirty-fourth resistor R34 and a thirty-third resistor R33, a junction point of the thirty-fourth resistor R34 and the thirty-third resistor R33 is electrically connected with a first signal output end of the two-way operational amplifier U15 through a fourth eleventh capacitor C41, and a first synchronous signal input end of the two-way operational amplifier U15 is also grounded through a fourth thirteenth capacitor C43; a first inverted signal input end and a first signal output end of the two-way operational amplifier U15 are electrically connected with a second in-phase signal input end sequentially through a thirty-fifth resistor R35 and a thirty-sixth resistor R36, a second in-phase signal input end of the two-way operational amplifier U15 is also grounded through a forty-fourth capacitor C44, a second inverted signal input end of the two-way operational amplifier U15 is electrically connected with a second signal output end, a junction point of the thirty-fifth resistor R35 and the thirty-sixth resistor R36 is electrically connected with a second signal output end of the two-way operational amplifier U15 through a forty-twelfth capacitor C42, and a junction point of a second signal output end of the two-way operational amplifier U15 and the forty-second capacitor C42 is electrically connected with the analog-to-digital conversion; the first power supply input end of the two-way operational amplifier U15 is grounded, and the second power supply input end of the two-way operational amplifier U15 is electrically connected with the power supply module. In this embodiment, the two-way operational amplifier U15 is implemented by a two-way low power JFET input general purpose operational amplifier with model number TL 062.
Furthermore, the bogie instability monitoring system in this embodiment further includes an alarm module, and the alarm module is electrically connected with the control module and the power module respectively;
the control module is also used for sending an alarm signal to the alarm module when the electric signal is higher than a preset electric signal threshold value; it should be understood that the threshold of the electrical signal may be a manual initial setting value, or may be an electrical signal detected by the vibration detection module in a normal operation state of the high-speed rail;
and the alarm module is used for generating alarm information after receiving the alarm signal.
Specifically, the number of the alarm modules may be multiple, as shown in fig. 7, which is a schematic circuit diagram of one of the alarm modules, the alarm module mainly includes a relay U9, an alarm device interface P1 and an alarm device, wherein the alarm device is electrically connected to the control module via the alarm device interface P1 and the relay in sequence, the alarm device may be implemented by, but not limited to, a buzzer or an alarm lamp, and when the alarm module receives an alarm signal, the relay acts to drive the alarm device to operate to implement alarm.
In this embodiment, the power supply module includes a core power supply module, a power interface, and a voltage stabilizing module, a power input end of the core power supply module is electrically connected to the main power supply through the power interface, and a power output end of the core power supply module is electrically connected to the vibration detection module, the analog-to-digital conversion module, the filtering module, the control module, the communication module, and the alarm module through the voltage stabilizing module.
In this embodiment, the power supply module further includes an input filter protection circuit, and the power supply input end of the core power supply module is electrically connected to the power supply interface through the input filter protection circuit.
Furthermore, the power supply module also comprises an output filter protection circuit, and the power supply output end of the core power supply module is electrically connected with the voltage stabilizing module through the output filter protection circuit.
Specifically, the core power supply module is realized by adopting an isolation power supply module with the model number of URB1D12 YMD-6W.
Fig. 8 is a schematic circuit diagram of the core power supply module, the input filter protection circuit, the output filter protection circuit, and the power interface. Specifically, the connection design of the voltage dependent resistor M1, the thirteenth capacitor C13, the twenty-first capacitor C21, the twenty-sixth capacitor C26, the second common-mode inductor CH2, the third common-mode inductor CH3 and other components in the input filter protection circuit meets the safety standard, common-mode and differential-mode interference from a main power supply can be filtered, and then the power supply subjected to primary filtering is filtered again through the anti-reverse diode D14 and the multistage filter circuit formed by the thirteenth diode D13, the first inductor L1, the twenty-fourth active capacitor C24, the twenty-fifth active capacitor C25, the twenty-third capacitor C23 and other components, so that a clean and stable direct-current power supply is provided for the core power supply module. In this embodiment, the core power module is implemented by an isolated power module with a model number of URB1D12YMD-6W, and has the advantages of wide input voltage range, wide working temperature range, capability of inputting under-voltage protection, output short circuit, overcurrent and overvoltage protection, low ripple noise and the like, and specifically comprises a Can communication unit and a Digital Output (DO), and Can play a role in protecting a relay between the power module and other modules; the input power mirror is filtered by the input filter protection circuit and isolated by the core power module to provide the required direct current power supply for the subsequent module. In addition, the output filter protection circuit can further filter the direct current power supply processed by the core power supply module, so that the input power supply is cleaner and more stable.
Furthermore, in order to observe the operation condition of the power supply module, the power supply module is further provided with a function lamp led1, and in the implementation process, whether the operation of the power supply module is normal or not can be preliminarily checked through the test observation of the function lamp led 1.
As shown in fig. 9, which is a schematic circuit diagram of the voltage stabilizing module, the voltage stabilizing module is used to stabilize the voltage output by the output filter protection circuit, so as to convert the voltage into the voltage required by the vibration detection module, the analog-to-digital conversion module, the filter module, the control module, the communication module, or the alarm module.
In this embodiment, as shown in fig. 9 to 11, the bogie instability monitoring system further includes a debugging module and a clock module, and it should be understood that a storage module is also configured in the control module for storing digital information such as software programs and virtual parameters, which may be, but is not limited to, a FLASH memory (i.e., FLASH memory) with model number W25Q 64.
The beneficial effects of the utility model are concentrated and are embodied in:
1) the transverse vibration signal of the vehicle bogie can be monitored, so that the occurrence of vehicle derailment accidents is favorably prevented; specifically, in the implementation process of the embodiment, the vibration detection module detects a transverse vibration signal of the bogie, then sends the transverse vibration signal of the bogie to the analog-to-digital conversion module to be converted into an electric signal, and finally processes the electric signal through the control module and sends the electric signal to the communication module through the communication module, and the communication module can give an alarm to the outside, so that the vibration condition of the vehicle bogie is monitored in real time, data acquisition is convenient, and the occurrence of a vehicle derailment accident is favorably prevented;
2) the input precision of the transverse vibration signal of the bogie is high, which is beneficial to ensuring the reliability and accuracy of the diagnosis result; the filtering module can filter transverse vibration signals of the bogie detected by the vibration detection module, can filter interference such as field electromagnetism, electric fields, harmonic waves and the like, can well inhibit strong voltage interference from the environment, effectively inhibits common mode and differential mode interference, effectively inputs useful signals to the post-stage conversion processing, and greatly improves the precision and accuracy of the input electric signals;
3) a clean and stable power supply can be input; specifically, in the power supply module, the power supply is filtered and isolated sequentially through the input filter protection circuit, the core power supply module and the output filter protection circuit, so that the cleanness and stability of the input power supply are effectively guaranteed, and the stability of system operation can be effectively guaranteed.
The various embodiments described above are merely illustrative, and may or may not be physically separate, as they relate to elements illustrated as separate components; if reference is made to a component displayed as a unit, it may or may not be a physical unit, and may be located in one place or distributed over a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Finally, it should be noted that the present invention is not limited to the above alternative embodiments, and that various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (7)
1. A bogie unstability monitored control system which characterized in that: the vibration detection module is electrically connected with the control module through the analog-to-digital conversion module, the communication module is electrically connected with the control module, and the power supply module is respectively electrically connected with the vibration detection module, the analog-to-digital conversion module, the control module and the communication module;
the vibration detection module is used for detecting a transverse vibration signal of the bogie and then sending the transverse vibration signal to the analog-to-digital conversion module;
the analog-to-digital conversion module is used for converting the transverse vibration signal of the bogie into an electric signal and then sending the electric signal to the control module;
the control module is used for receiving and processing the electric signal and then sending the processed electric signal to the communication module;
and the power supply module is used for providing electric power support for the vibration detection module, the analog-to-digital conversion module, the control module and the communication module.
2. The bogie instability monitoring system according to claim 1, wherein: the vibration detection module is electrically connected with the analog-to-digital conversion module through the filtering module, and the filtering module is also electrically connected with the power supply module;
the filtering module is used for receiving the transverse vibration signal of the bogie detected by the vibration detection module, filtering the transverse vibration signal of the bogie, and then sending the processed transverse vibration signal of the bogie to the analog-to-digital conversion module.
3. The bogie instability monitoring system according to claim 1, wherein: the alarm module is electrically connected with the control module and the power supply module respectively;
the control module is also used for sending an alarm signal to the alarm module when the electric signal is higher than a preset electric signal threshold value;
and the alarm module is used for generating alarm information after receiving the alarm signal.
4. The bogie instability monitoring system according to claim 1, wherein: the power supply module comprises a core power supply module, a power supply interface and a voltage stabilizing module, wherein the power supply input end of the core power supply module is electrically connected with a main power supply through the power supply interface, and the power supply output end of the core power supply module is electrically connected with the vibration detection module, the analog-to-digital conversion module, the control module and the communication module through the voltage stabilizing module.
5. The truck instability monitoring system of claim 4, wherein: the power supply module further comprises an input filter protection circuit, and the power supply input end of the core power supply module is electrically connected with the power supply interface through the input filter protection circuit.
6. The truck instability monitoring system of claim 5, wherein: the power supply module further comprises an output filtering protection circuit, and the power supply output end of the core power supply module is electrically connected with the voltage stabilizing module through the output filtering protection circuit.
7. A bogie instability monitoring system according to any of the claims 4 to 6, characterized in that: the core power supply module is realized by adopting an isolation power supply module with the model number of URB1D12 YMD-6W.
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| CN201921458949.0U CN210221512U (en) | 2019-09-03 | 2019-09-03 | Bogie unstability monitored control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829795A (en) * | 2021-02-07 | 2021-05-25 | 中车长春轨道客车股份有限公司 | Bogie instability detection method and system |
| CN113049252A (en) * | 2021-03-25 | 2021-06-29 | 成都天佑路航轨道交通科技有限公司 | Fault detection method for train bearing box |
-
2019
- 2019-09-03 CN CN201921458949.0U patent/CN210221512U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829795A (en) * | 2021-02-07 | 2021-05-25 | 中车长春轨道客车股份有限公司 | Bogie instability detection method and system |
| CN113049252A (en) * | 2021-03-25 | 2021-06-29 | 成都天佑路航轨道交通科技有限公司 | Fault detection method for train bearing box |
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| GR01 | Patent grant |