Rail vertical irregularity estimation method and system based on extended Kalman filtering

A technology for extending Kalman and track, applied in the field of track vertical irregularity online monitoring, which can solve the problems of high cost of measurement unit, inability to effectively filter non-linear system noise, complexity, etc., achieving low cost, convenient installation, and engineering implementability. Good results

Inactive Publication Date: 2015-09-02
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, this method is costly and complex in the system measurement unit, and the use of Kalman filtering in the filtering algorithm cannot effectively filter the noise of the non-linear system

Method used

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  • Rail vertical irregularity estimation method and system based on extended Kalman filtering
  • Rail vertical irregularity estimation method and system based on extended Kalman filtering
  • Rail vertical irregularity estimation method and system based on extended Kalman filtering

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Embodiment 1

[0075] By establishing a vehicle-track vertical coupling dynamics model, collecting observable states such as vehicle body acceleration, vehicle body angular velocity, frame acceleration, and frame angular velocity, etc., using the extended Kalman filter, combining observation equations, state equations, and estimated state inverse Calculating track irregularity to achieve optimal estimation of track irregularity.

[0076] combine figure 2 , establish the vehicle-track vertical coupling dynamics model proposed by Zhai Wanming (Zhai Wanming. Vehicle-track Coupling Dynamics (Third Edition). Science Press. 2007), including vehicle sub-model, track sub-model, wheel-rail force , Hertz nonlinear contact theory and a new predictive-corrective explicit integration method. The vehicle dynamics sub-model includes the ups and downs and pitching motions of the car body, front and rear frames, and the ups and downs of the four wheel sets; the track sub-model adopts a continuously support...

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Abstract

The invention discloses a rail vertical irregularity estimation method and system based on extended Kalman filtering. The system is characterized in that vibration acceleration sensors and gyroscopes are installed on a train body and a frame, the output ends of the vibration acceleration sensors, the gyroscopes and train speed sensors are connected to a central processing unit, and spatial sampling of train body vertical vibration, train body nodding angular speed, frame vertical vibration, frame nodding angular speed and the like is realized through train speed signals. A vehicle rail coupling system state equation is established according to a kinetic equation for a vehicle rail coupling model; a sensor observation equation is established according to signals acquired by all sensors; a filtering iterative equation is configured to obtain time updating equations and measurement updating equations of state estimation and estimation error covariance; an optimal state at each moment is obtained according to extended Kalman filtering, and rail irregularity estimation is finally obtained after inversion by using the time updating equation of the state estimation. The rail vertical irregularity estimation method and system based on extended Kalman filtering have the advantages of low cost, good engineering feasibility, simplicity in operation and online real-time detection.

Description

technical field [0001] The invention relates to the technical field of on-line monitoring of track vertical irregularity, in particular to a method and system for estimating track vertical irregularity based on extended Kalman filtering. Background technique [0002] Track irregularity is one of the main excitation sources that cause the vibration of vehicles and tracks, and it is a concentrated expression of the track quality state. Irregularity of the track will not only increase the interaction between the vehicle and the track, shorten the service life of the vehicle and the track, and affect the ride comfort. When the deformation accumulates to a certain extent, it will also cause the vehicle to tilt and roll, which seriously threatens the safety of the train. Therefore, it is of great significance to detect and estimate the track irregularity state of the running line in real time. [0003] Zhu Wenfa disclosed a (Zhu Wenfa, Chai Xiaodong, Zheng Shubin, etc. based on s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E01B35/12
CPCE01B35/12
Inventor 石奋义王晓浩王贵王夫歌郭岑邢宗义张永
Owner NANJING UNIV OF SCI & TECH
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