Bench test device and method for vehicle-mounted pantograph and storage medium

Abstract

The invention discloses a bench test device and method for a vehicle-mounted pantograph and a storage medium, and relates to the technical field of traffic transportation, and the device comprises two supporting frame bodies and two actuators. Wherein each actuator is arranged on an upper cross rod of the corresponding supporting frame body; each actuator comprises a linear motor module and two cable fixing blocks arranged on a sliding block of the linear motor module; the linear motor module comprises a motor, a guide rail and a sliding block and is used for driving the sliding block to linearly move along the guide rail through rotation of the motor. Each cable fixing block is used for fixing a contact network cable; according to the invention, after the pantograph of the electrified road vehicle needing to be tested between the two support frame bodies is lifted in place, the two contact net lines in contact with the pantograph can be controlled by the actuator to move transversely, so that the test of the transverse following control function of the pantograph can be realized; the defects of the pantograph of the electrified road vehicle can be found in advance, and the research and development cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology, and in particular to a bench test device and method for a vehicle-mounted pantograph and a computer-readable storage medium. Background Art

[0002] Vehicles traveling on electrified roads generally obtain the required electricity from the overhead contact network through the top collector (i.e., on-board pantograph). This method of obtaining electrical energy can not only directly drive the vehicle, but also charge the power battery on the vehicle while it is driving, which not only improves the vehicle's driving efficiency, but also achieves zero emissions during driving.

[0003] During the R&D phase of complex vehicle systems or products of electrified road vehicles, the testing phase is the core link to ensure their quality, performance and reliability. Generally speaking, after the product design scheme is determined, the vehicle installation test will be carried out on the test line, but this test method often faces many limitations and efficiency issues, making it difficult to perform comparative analysis of diverse schemes and parameters, and in-depth exploration of performance or safety is also inadequate. Similarly, if the pantograph is directly installed on the actual vehicle and its motion control system is tested, it is not only inefficient but also high-risk. Due to insufficient understanding of the performance of the pantograph, problems such as frequent pantograph lifting and hanging, excessive pantograph swing, and severe pantograph arcing may be encountered during the test. Therefore, it is a feasible practice to conduct bench tests to pre-verify the function and performance of the pantograph's motion control system before the vehicle-mounted pantograph enters the test site for the vehicle installation test phase. Doing so can effectively prepare for its subsequent stability and reliability inspection in the actual vehicle road test, while accumulating valuable debugging experience.

[0004] At present, there are few studies on the structure and test methods of the bench test device for the pantograph of electrified road vehicles at home and abroad. Most of them are analysis and discussion of the test conclusions, which are difficult to guide actual engineering tests. Therefore, how to provide a bench test device that can test the pantograph of electrified road vehicles to find the defects of the pantograph of electrified road vehicles in advance, help adjust and optimize the pantograph motion control system, and reduce the research and development cost of the pantograph of electrified road vehicles is an urgent problem to be solved today. Summary of the invention

[0005] The purpose of the present invention is to provide a bench test device, method and computer-readable storage medium for a vehicle-mounted pantograph, so as to discover defects of the pantograph of an electrified road vehicle in advance, assist in the adjustment and optimization of the vehicle-mounted pantograph motion control system, and reduce the research and development cost of the pantograph of an electrified road vehicle.

[0006] In order to solve the above technical problems, the present invention provides a bench test device for a vehicle-mounted pantograph, comprising: two support frames and two actuators; wherein each of the support frames comprises an upper cross bar, a lower cross bar, and a supporting connection structure between the upper cross bar and the lower cross bar;

[0007] Each of the actuators is arranged on the upper cross bar of a corresponding support frame; each of the actuators includes a linear motor module and two cable fixing blocks arranged on the slider of the linear motor module; the linear motor module includes a motor, a guide rail and the slider, which is used to drive the slider to move linearly along the guide rail through the rotation of the motor; each of the cable fixing blocks is used to fix a contact network line, so that the two actuators are connected by the two contact network lines fixed by their two cable fixing blocks; the pantograph to be tested is placed between the two relatively arranged support frames, so that after the pantograph to be tested is raised into place, the bow head carbon slide plate of the pantograph to be tested contacts the two contact network lines between the actuators of the two support frames.

[0008] On the other hand, the device further comprises: a fixing rod, both ends of which are detachably connected to one of the supporting frames.

[0009] On the other hand, the support connection structure includes a left vertical rod and a right vertical rod, the first ends of the left vertical rod and the right vertical rod in each of the support frames are connected to the upper crossbar in the support frame, and the second ends of the left vertical rod and the right vertical rod in each of the support frames are connected to the lower crossbar in the support frame;

[0010] The fixing rod comprises a first fixing rod and a second fixing rod, wherein two ends of the first fixing rod are respectively detachably connected to a left vertical rod in the support frame, and two ends of the second fixing rod are respectively detachably connected to a right vertical rod in the support frame.

[0011] On the other hand, bases are respectively provided at the connection positions of the lower horizontal bar in each support frame and the left vertical bar and the right vertical bar in the support frame, and the bases are provided with a preset number of bolt holes for connecting to the ground or the test table through bolts.

[0012] On the other hand, each of the actuators includes two of the linear motor modules, and the two cable fixing blocks in each of the actuators are respectively arranged on a slider in a corresponding one of the linear motor modules.

[0013] On the other hand, the two cable fixing blocks in each of the actuators are detachably connected to a respective corresponding preset position on the slider of the linear motor module, and the slider includes at least two preset positions for installing the cable fixing blocks.

[0014] In another aspect, the apparatus further comprises:

[0015] The stress detection device is used to detect the static contact pressure between the pantograph carbon slide plate and the contact network line after the pantograph to be tested is raised into place.

[0016] The present invention also provides a bench test method for a vehicle-mounted pantograph, which is applied to the bench test device for the vehicle-mounted pantograph as described above, comprising:

[0017] The upper computer controls the two actuators in the bench test device to move the sliders on the guide rails according to the preset trajectory according to the acquired lateral following test instructions, so that the two contact network wires contacted by the pantograph carbon slide plate after the pantograph to be tested is raised into place undergo a test lateral movement; wherein each of the contact network wires passes through a corresponding cable fixing block on each of the actuators, and the two contact network wires are within the preset maximum lateral range during the test lateral movement;

[0018] Acquire the lateral following test record data of the pantograph to be tested; wherein the lateral following test record data includes the lateral following error of the pantograph to be tested to the contact network line;

[0019] The lateral following test result of the pantograph to be tested is determined according to the lateral following test record data.

[0020] On the other hand, the host computer controls the two actuators in the bench test device to move the sliders along the preset track on the guide rail according to the obtained lateral following test instruction, including:

[0021] After obtaining the lateral following test instruction, the host computer detects whether the pantograph to be tested is raised to the correct position;

[0022] If yes, control the two actuators to move the sliders to their respective corresponding preset positions on the guide rails, so that the two contact wires are respectively located at the center of the bow head carbon slide plates they are in contact with;

[0023] After each of the slide blocks moves to its corresponding preset position, two actuators in the bench test device are controlled to move the slide block along a preset trajectory on the guide rail.

[0024] In another aspect, the method further comprises:

[0025] According to the acquired pantograph raising test instruction, a pantograph raising control instruction is sent to the electric-controlled cylinder system of the pantograph to be tested, so as to control the electric-controlled cylinder system to perform a pantograph raising operation, and the first time of sending the pantograph raising control instruction is recorded;

[0026] Obtaining a second time when the pantograph to be tested reaches a pantograph-raised state;

[0027] The pantograph raising test result of the pantograph to be tested is determined according to the first time, the second time and the preset maximum pantograph raising time.

[0028] On the other hand, the step of sending a pantograph raising control instruction to the electric control cylinder system of the pantograph to be tested according to the acquired pantograph raising test instruction comprises:

[0029] If the bow raising test instruction is a bow raising validity test instruction, a bow raising control instruction is sent to the electric control cylinder system board of the electric control cylinder system to control the electric control cylinder system board to perform a bow raising operation;

[0030] If the pantograph raising test instruction is a pantograph raising control function test instruction, the motion control system controlling the pantograph to be tested sends the pantograph raising control instruction to the electric-controlled cylinder system through the IO output interface of the motion control unit.

[0031] In another aspect, the method further comprises:

[0032] The host computer obtains a bow rotation function test instruction;

[0033] According to the pantograph rotation function test instruction, a predicted rotation angle test signal is sent to the servo motor of the pantograph to be tested; wherein the predicted rotation angle test signal includes a preset step rotation angle signal and / or a preset sinusoidal rotation angle signal;

[0034] Acquiring dynamic response process data of the pantograph to be tested to the predicted rotation angle test signal;

[0035] The pantograph rotation function validity test result of the pantograph to be tested is determined according to the dynamic response process data, the preset rotation function test time threshold and the preset rotation function test error threshold.

[0036] On the other hand, the lateral following test record data also includes video data of the pantograph to be tested collected by a camera during the lateral movement of the two overhead wires;

[0037] The step of determining the lateral following test result of the pantograph to be tested according to the lateral following test record data comprises:

[0038] According to the video data, judging whether the movement of the pantograph to be tested following the contact wires is smooth and without any jamming during the lateral movement of the two contact wires;

[0039] If yes, determining whether the absolute value of the lateral following error exceeds a preset following error threshold;

[0040] If the preset following error threshold is not exceeded, the lateral following test result is determined to be a test pass.

[0041] In another aspect, the method further comprises:

[0042] The host computer controls the two actuators to move the sliders on the guide rails according to the preset pantograph lowering control trajectory according to the acquired emergency pantograph lowering function test instruction, so that the two contact network wires contacted by the pantograph head carbon slide plate after the pantograph to be tested is raised into place are respectively moved out of the preset maximum lateral range;

[0043] Acquire the emergency pantograph lowering record data of the pantograph to be tested; wherein the emergency pantograph lowering record data includes the static contact pressure between the pantograph head carbon slide plate and the corresponding contact network line detected by the stress detection equipment and / or the video data of the pantograph to be tested collected by the camera;

[0044] According to the emergency pantograph lowering record data, the emergency pantograph lowering function test result of the pantograph to be tested is determined.

[0045] In addition, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the bench test method for the on-board pantograph as described above are implemented.

[0046] A bench test device for a vehicle-mounted pantograph provided by the present invention comprises: two support frames and two actuators; wherein each support frame comprises an upper cross bar, a lower cross bar, and a supporting connection structure between the upper cross bar and the lower cross bar; each actuator is arranged on the upper cross bar of a corresponding support frame; each actuator comprises a linear motor module and two cable fixing blocks arranged on a slider of the linear motor module; the linear motor module comprises a motor, a guide rail and a slider, which is used to drive the slider to move linearly along the guide rail through the rotation of the motor; each cable fixing block is used to fix a contact network line, so that the two actuators are connected by two contact network lines fixed by their two cable fixing blocks; the pantograph to be tested is placed between the two relatively arranged support frames, so that after the pantograph to be tested is raised into place, the bow head carbon slide plate of the pantograph to be tested contacts the two contact network lines between the actuators of the two support frames;

[0047] It can be seen that the present invention sets the actuators on the two support frames, so that after the pantograph of the electrified road vehicle to be tested between the two support frames is raised to the right position, the two contact wires contacted by the pantograph can be controlled by the actuator to move laterally, thereby realizing the test of the lateral following control function of the pantograph, and being able to discover the defects of the pantograph of the electrified road vehicle in advance, assisting the adjustment and optimization of the on-board pantograph motion control system, and reducing the research and development cost of the pantograph of the electrified road vehicle. In addition, the present invention also provides a bench test method and computer-readable storage medium for a vehicle-mounted pantograph, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0049] Figure 1 A schematic structural diagram of a bench test device for a vehicle-mounted pantograph provided in an embodiment of the present invention;

[0050] Figure 2 for Figure 1 The front view of the bench test device for the on-board pantograph;

[0051] Figure 3 for Figure 1 A top view of the bench test device for the on-board pantograph;

[0052] Figure 4 for Figure 1 The left side view of the bench test device for the on-board pantograph;

[0053] Figure 5 A schematic structural diagram of a vehicle-mounted pantograph provided in an embodiment of the present invention;

[0054] Figure 6 A schematic diagram of a bench test device for a vehicle-mounted pantograph provided by an embodiment of the present invention after a pantograph is added;

[0055] Figure 7 A flow chart of a bench test method for a vehicle-mounted pantograph provided by an embodiment of the present invention;

[0056] Figure 8 An overall test flow chart of a bench test method for a vehicle-mounted pantograph provided by an embodiment of the present invention;

[0057] Fig. 9A simplified schematic diagram of raising / lowering a pantograph in a bench test device provided by an embodiment of the present invention;

[0058] Fig.10 A simplified schematic diagram of the rotation of a pantograph in a bench test device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Please refer to Figure 1 , Figure 1 The present invention provides a schematic diagram of a bench test device for a vehicle-mounted pantograph provided in an embodiment of the present invention. The bench test device may include: two support frames 10 and two actuators 20; wherein each support frame 10 includes an upper crossbar, a lower crossbar, and a supporting connection structure between the upper crossbar and the lower crossbar;

[0061] Each actuator 20 is arranged on the upper cross bar of a corresponding support frame 10; each actuator 20 includes a linear motor module and two cable fixing blocks arranged on the slider of the linear motor module; the linear motor module includes a motor, a guide rail and a slider, which is used to drive the slider to move linearly along the guide rail through the rotation of the motor; each cable fixing block is used to fix a contact network line, so that the two actuators 20 are connected by the two contact network lines fixed by their respective two cable fixing blocks; the pantograph to be tested is placed between the two relatively arranged support frames 10, so that after the pantograph to be tested is raised into place, the bow head carbon slide plate of the pantograph to be tested contacts the two contact network lines between the actuators 20 of the two support frames 10.

[0062] It can be understood that the pantograph to be tested in this embodiment can be a pantograph that needs to be tested using a bench test device, such as a pantograph in an electrified road vehicle (i.e., a vehicle-mounted pantograph). The bench test device provided in this embodiment can be a device for bench testing a pantograph; for example, the bench test device provided in this embodiment can be used to pre-verify the function and performance of the motion control system of the pantograph (i.e., the pantograph to be tested), and obtain rich performance parameters, thereby accelerating the debugging progress of the pantograph installation road test on the subsequent electrified road test line, improving the test efficiency, and reducing the test cost.

[0063] Among them, the two support frames 10 in the bench test device in this embodiment can be a tooling assembly formed by profile parts and / or sheet metal parts of various structural forms through bolt fastening or welding; that is, the supporting connection structure between the upper cross bar and the lower cross bar in each support frame 10 can be respectively connected to the upper cross bar and the lower cross bar through bolt fastening or welding, so that the position between the upper cross bar and the lower cross bar can be relatively fixed.

[0064] Accordingly, in this embodiment, a base can be provided on the lower cross bar of each support frame 10, so that the support frame 10 can be connected to the ground or the test table through the base, so as to prevent the support frame 10 from slipping during the test. For example, the support connection structure in each support frame 10 includes a left vertical bar and a right vertical bar, the first ends of the left vertical bar and the right vertical bar in each support frame 10 are connected to the upper cross bar in the support frame 10, and the second ends of the left vertical bar and the right vertical bar in each support frame 10 are connected to the lower cross bar in the support frame 10; bases are respectively provided at the connection positions between the lower cross bar in each support frame 10 and the left vertical bar and the right vertical bar in the support frame 10, and a preset number of bolt holes (such as Figure 1 4 bolt holes as shown) are used to connect to the ground or test bench through bolts; Figure 1 As shown, the base of each support frame 10 can be provided with 8 bolt holes, and 8 fastening bolts with larger diameters are pre-installed for fastening to the ground or the test table to prevent the support frame 10 from slipping during the test.

[0065] Furthermore, in order to avoid the problem of shaking of the support frame 10 during the test, the bench test device provided in this embodiment may also include a fixing rod, and the two ends of the fixing rod can be detachably connected to a support frame 10 respectively, that is, the fixing rod can connect the support frames 10 on both sides to form a whole by a detachable connection (such as bolt fastening) rather than a fixed connection (such as welding). This not only improves the stability of the bench test device during the test, but also provides convenience for the installation and disassembly of the two frames.

[0066] Correspondingly, the specific number and location of the fixing rods in this embodiment can be set by the designer according to the usage scenario and user needs. For example, the number of fixing rods can be 1; in order to ensure the stability of the bench test device during the test, the number of fixing rods can also be greater than or equal to 2. Figures 1 to 4As shown, when the supporting connection structure between the upper crossbar and the lower crossbar of each support frame 10 includes a left vertical bar and a right vertical bar, the fixing rod may include a first fixing rod and a second fixing rod, and the two ends of the first fixing rod are respectively detachably connected (such as bolted) to a left vertical bar in a support frame 10, and the two ends of the second fixing rod are respectively detachably connected to a right vertical bar in a support frame 10; or, when the number of fixing rods is 2, the two ends of each fixing rod may also be respectively connected to one end of the two upper crossbars. As long as the stability of the bench test device can be improved by the detachable connection between the fixing rod and the two support frames 10 in this embodiment, this embodiment does not impose any restrictions on this.

[0067] Furthermore, in order to improve the applicability of the bench test device, the supporting connection structure between the upper cross bar and the lower cross bar of each supporting frame 10 in the present embodiment can adopt a liftable structure, such as a mechanical lifting structure that can manually adjust the relative distance (i.e., height) between the upper cross bar and the lower cross bar, or an electric lifting structure that can adjust the relative distance between the upper cross bar and the lower cross bar by rotating a motor, so that the experimenter can adjust the distance between the upper cross bar and the lower cross bar of the supporting frame 10 as needed, thereby adjusting the height of the two contact network cables in the bench test device during the test.

[0068] It should be noted that, in this embodiment, an actuator 20 can be installed on the upper cross bar of each support frame 10; each actuator 20 can include a linear motor module and two cable fixing blocks. The function of the cable fixing block is to fix the contact network line. The distance between the two cable fixing blocks of each actuator 20, that is, the relative spacing between the two fixed contact network lines can be set with reference to the actual distance between the two contact lines of the overhead power grid in the actual electrified highway. The linear motor module is an electric drive device characterized by linear motion. The linear motor module may include components such as a motor, a guide rail, and a slider. The rotation of the motor drives the slider to move linearly along the guide rail. Compared with traditional rotary motors, the linear motor module provided in this embodiment has the advantages of smaller size, simpler structure and higher precision, and is suitable for pantograph testing scenarios with high requirements for precision.

[0069] Among them, each actuator 20 includes a linear motor module and two cable fixing blocks arranged on the slider of the linear motor module; the linear motor module includes a motor, a guide rail and a slider, which is used to drive the slider to move linearly along the guide rail through the rotation of the motor, so that the cable fixing block set on the slider moves accordingly, driving the contact network line fixed by the cable fixing block to move; each cable fixing block is used to fix a contact network line, so that the two actuators 20 are connected by the two contact network lines fixed by their respective two cable fixing blocks; the pantograph to be tested is placed between the two relatively arranged support frames 10, so that after the pantograph to be tested is raised into place, the bow head carbon slide plate of the pantograph to be tested contacts the two contact network lines between the actuators 20 of the two support frames 10.

[0070] Correspondingly, the specific setting positions of the two cable fixing blocks in each actuator 20 in this embodiment, that is, the setting of the specific linear motor module in the actuator 20, can be set by the designer according to practical scenarios and user needs. For example, during the test, when it is only necessary to control the two contact network lines to move in the same direction (such as left or right) at the same speed through the actuator 20, the number of linear motor modules in each actuator 20 in this embodiment can be 1, that is, the two cable fixing blocks in each actuator 20 can be set on one or two sliders of the same linear motor module; accordingly, in order to facilitate the specific setting of the two contact network lines connected by the cable fixing blocks in the bench test device, the two cable fixing blocks in each actuator 20 are detachably connected to a preset position corresponding to each other on the slider of the linear motor module, and the slider of the linear motor module includes at least two preset positions for installing the cable fixing blocks.

[0071] Accordingly, in order to enable the actuator 20 to control the two contact network lines to move in different directions (such as to the left and to the right) or at different speeds during the test, each actuator 20 in this embodiment may include two linear motor modules, and the two cable fixing blocks in each actuator 20 are respectively arranged on the slider in a corresponding linear motor module.

[0072] For example, if Figure 5 and Figure 6As shown, after the pantograph (i.e., the pantograph to be tested) is fixed in the bench test device, due to the presence of the overhead contact wire above, the carbon slide plate of the bow head will contact the overhead contact wire after the pantograph is raised to a certain height. Due to the existence of resistance, the pantograph bow head will not continue to rise at this time, so it can be used to simulate the actual pantograph raising scene, thereby meeting the test conditions of the pantograph raising and lowering functions. At the same time, the bench test device can use the actuator 20 on the upper cross bar of each support frame 10 to drive the overhead contact wire fixed on its cable fixing block to move left and right, and the linear motor module in the actuator 20 can be used to change the moving speed of the overhead contact wire on the guide rail, which can be used to simulate the left and right swinging movement of the overhead contact wire above the vehicle on the electrified highway relative to the pantograph bow head, and can provide test conditions for the subsequent test of the lateral following function of the pantograph.

[0073] Furthermore, the test rack device provided in this embodiment can also be used to carry out other tests besides the function and performance test of the pantograph motion control system; for example, in the pantograph-net contact state, a certain static contact pressure will be formed between the pantograph head carbon slide plate and the contact network line, and the magnitude of the force can be measured by the stress detection device, so that the static contact pressure detected by the stress detection device can be used to determine whether it meets the pantograph specification requirements, so as to adjust the pressure of the electric control cylinder that controls the pantograph raising and lowering actions, thereby optimizing the pantograph parameter design. In other words, the test rack device can also include: a stress detection device, which is used to detect the static contact pressure between the pantograph head carbon slide plate and the contact network line after the pantograph to be tested is raised into place.

[0074] Correspondingly, the frame test device provided in this embodiment may also include a camera for collecting video data of the pantograph to be tested between the two supporting frames 10, so that the collected video data can be used to automatically detect the state (such as stability, jamming and jitter, etc.) of the movement process (such as raising the pantograph, lowering the pantograph and lateral follow-up rotation, etc.) of the pantograph to be tested during the test process, thereby improving the accuracy of the test result judgment.

[0075] In this embodiment, the embodiment of the present invention sets the actuator 20 on the two support frames 10 so that after the pantograph of the electrified road vehicle to be tested between the two support frames 10 is raised into place, the two contact wires contacted by the pantograph can be controlled by the actuator 20 to move laterally, thereby realizing the test of the lateral following control function of the pantograph, being able to discover the defects of the pantograph of the electrified road vehicle in advance, assisting in the adjustment and optimization of the on-board pantograph motion control system, and reducing the research and development cost of the pantograph of the electrified road vehicle.

[0076] Corresponding to the above device embodiment, an embodiment of the present invention further provides a bench test method for a vehicle-mounted pantograph. The bench test method for a vehicle-mounted pantograph described below and the bench test device for a vehicle-mounted pantograph described above can be referred to each other.

[0077] Please refer to Figure 7 , Figure 7 This is a flow chart of a bench test method for a vehicle-mounted pantograph provided in an embodiment of the present invention. The method is applied to a bench test device for a vehicle-mounted pantograph provided in the above embodiment, and may include:

[0078] Step 101: The host computer controls two actuators in the control rack test device to move sliders on the guide rails according to the preset trajectory according to the obtained lateral following test instructions, so that the two contact network lines contacted by the carbon slide plate of the pantograph head after the pantograph to be tested is raised into place undergo a test lateral movement.

[0079] Among them, each contact network line passes through a corresponding cable fixing block on each actuator, and the two contact network lines are within the preset maximum lateral range during the test lateral movement.

[0080] It can be understood that the host computer in this embodiment can be a device, such as a computer, which uses the bench test device for the on-board pantograph provided in the above-mentioned embodiment to test the pantograph (i.e., the pantograph to be tested) (i.e., bench test); for example, the host computer in this embodiment can be communicated with the bench test device and the pantograph to be tested, and is used to control the bench test device and the pantograph to be tested, so as to realize the bench test of the on-board pantograph to be tested.

[0081] Among them, the lateral following test instruction in this embodiment can be an instruction for controlling the host computer to test the lateral following control function of the pantograph to be tested. The preset trajectory in this embodiment can be the movement trajectory of the slider where the two cable fixing blocks are located in each support frame in the pre-set bench test device, so that through the setting of the preset trajectory, during the test process of the lateral following control function corresponding to the lateral following test instruction of the pantograph to be tested, the two actuators in the bench test device can move the slider on the guide rail according to the preset trajectory, so that the two contact wires fixed by the two cable fixing blocks can move laterally during the test process (i.e., test lateral movement), simulating the lateral deviation movement of the upper contact wire relative to the pantograph during the vehicle driving process.

[0082] Correspondingly, the above process of controlling the two actuators in the control rack test device to move the slider on the guide rail according to the preset trajectory according to the obtained lateral following test instruction may include controlling the two actuators in the control rack test device to move the slider at a preset moving speed and a preset trajectory according to the lateral following test instruction, that is, controlling the two cable fixing blocks in each support frame to move at a fixed speed. It may also include controlling the two actuators in the control rack test device to move the slider at each preset moving speed and along a preset trajectory according to the lateral following test instruction, that is, controlling the two cable fixing blocks in each support frame to move by switching different speeds. It may also include controlling the two actuators in the control rack test device to move the slider at a target moving speed and a preset trajectory according to the lateral following test instruction; wherein the target moving speed is the moving speed corresponding to the lateral following test instruction, such as different gears (such as 1, 2, 3 and 4 gears) according to the speed, and the user can operate the upper computer to select the required gear to generate the corresponding lateral following test instruction to control the contact network line to move back and forth on the guide rail at the speed of the gear (that is, the target moving speed). This embodiment does not impose any restrictions on this.

[0083] It should be noted that the structure of the pantograph to be tested in this embodiment (i.e. the pantograph to be tested) can be as follows: Figure 5 As shown, the pantograph uses an electric-controlled cylinder system as an actuator to raise and lower the pantograph. Specifically, the pantograph arm is pulled or pushed by controlling the electric-controlled cylinder to complete the pantograph raising or lowering action. The pantograph uses a servo motor system as an actuator to rotate the pantograph. Specifically, the servo motor shaft is fixedly connected to the pantograph arm rotating platform. The pantograph arm is driven to rotate by controlling the servo motor to rotate, thereby completing the pantograph rotation action.

[0084] Correspondingly, in this embodiment, before the host computer controls the two actuators in the bench test device to move the slider on the guide rail according to the preset trajectory, the pantograph to be tested needs to be in the state of raising the bow to the center position of the bow head carbon slide plate of the pantograph to be tested, which the two contact network lines are respectively in contact with. For example, the user can normally power on and ventilate the pantograph (i.e., the pantograph to be tested) in the bench test device; when confirming that the pantograph is in the state of lowering the bow to the center position, press the bow raising button and wait for the bow to be raised to the center position, and then use the host computer to send the corresponding movement instructions to the two actuators installed on the bench test device to control the two contact network lines to move to the center position of the bow head carbon slide plate; then operate the host computer to trigger the lateral following test instruction.

[0085] Furthermore, in order to facilitate the user to test the lateral following control function of the pantograph and reduce the user operation process. In this step, after obtaining the lateral following test instruction, the host computer can detect whether the pantograph to be tested is in place (such as using a stress detection device to detect whether the pantograph to be tested is in place); if so, control the two actuators to move each slider on the guide rail to the corresponding preset position, so that the two contact network lines are respectively at the center position of the bow head carbon slide plate they are in contact with; after each slider moves to the corresponding preset position, the two actuators in the control rack test device move the sliders on the guide rail according to the preset trajectory.

[0086] Correspondingly, if it is detected that the pantograph to be tested is not raised into place, a pantograph raising prompt message can be output to prompt the user to raise the pantograph to be tested into place; the pantograph to be tested can also be controlled to be raised into place, and subsequent steps of controlling the two actuators to move each slider on the guide rail to their corresponding preset positions can be executed, such as sending a pantograph raising control instruction to the electric-controlled cylinder system of the pantograph to control the electric-controlled cylinder system to perform the pantograph raising operation so that the pantograph to be tested is raised into place.

[0087] Step 102: Obtain lateral following test record data of the pantograph to be tested; wherein the lateral following test record data includes a lateral following error of the pantograph to be tested with respect to the contact network line.

[0088] Among them, the lateral following test record data in this embodiment may be data recorded during the test process of the lateral following control function (i.e., the process of testing the lateral movement of two contact lines). The specific data content and type of the lateral following test record data in this embodiment may be set by the designer according to practical scenarios and user needs. For example, the lateral following test record data may include the lateral following error of the pantograph to be tested to the contact line, such as the data collected by the sensor (such as the ranging sensor) on the bow head carbon slide board of the pantograph, and the distance of the center position of the bow head carbon slide board relative to the contact line in contact is generated and recorded. The lateral following test record data may also include video data of the pantograph to be tested during the lateral movement of the two contact lines collected by the camera, so as to realize the automatic recognition of the movement state of the pantograph to be tested. This embodiment does not impose any restrictions on this.

[0089] Step 103: Determine the lateral following test result of the pantograph to be tested according to the lateral following test record data.

[0090] It can be understood that, in this embodiment, the host computer can determine the lateral following test result of the pantograph to be tested based on the lateral following test record data, and complete the test of the lateral following control function of the pantograph to be tested.

[0091] Correspondingly, the specific method for the upper computer to determine the lateral following test result of the pantograph to be tested based on the lateral following test record data in this step can be set by the designer according to practical scenarios and user needs. For example, when the lateral following test record data includes the lateral following error of the pantograph to be tested to the contact network line, the upper computer can determine whether the absolute value of the lateral following error exceeds the preset following error threshold (such as 0.3m); if it exceeds the preset following error threshold, the lateral following test result is determined to be a test failure; if it does not exceed the preset following error threshold, the lateral following test result is determined to be a test pass. The lateral following test record data also includes the video data of the pantograph to be tested collected by the camera during the lateral movement of the two contact lines during the test. The upper computer determines whether the movement process of the pantograph to be tested following the contact line is smooth and without jamming during the lateral movement of the two contact lines according to the video data; if it is not smooth or jamming (such as the pause in the controlled movement process exceeds the preset jamming time), the lateral following test result is determined to be a test failure; if it is smooth and without jamming, it is determined whether the absolute value of the lateral following error exceeds the preset following error threshold; if it exceeds the preset following error threshold, the lateral following test result is determined to be a test failure; if it does not exceed the preset following error threshold, the lateral following test result is determined to be a test pass.

[0092] Correspondingly, the host computer can also determine the lateral following test result of the pantograph to be tested based on the lateral following test record data and the user observation input data; wherein, the user observation input data can be the data input into the host computer after the user observes the following of the pantograph to be tested with respect to the moving contact network line, such as whether it is smooth and whether it is stuck; for example, the host computer can determine that the lateral following test result is a passed test when the absolute value of the lateral following error does not exceed the preset following error threshold and the user observation input data is smooth and has no stuck indication.

[0093] Furthermore, when the upper computer determines that the lateral following test result is a test failure, it can also output adjustment prompt information to prompt the user to adjust the corresponding parameters, thereby speeding up the debugging progress of the pantograph installation road test on the subsequent electrified highway test line; for example, the adjustment prompt information may include the failure reason for the test failure (such as instability, jamming, and lateral following error exceeding the threshold, etc.), and may also include the recommended parameter adjustment method corresponding to the failure reason to facilitate the user's optimization adjustment.

[0094] It should be noted that this embodiment is demonstrated by taking the test of the lateral following control function of the pantograph to be tested by the host computer using the bench test device as an example. For the test of other functions of the pantograph, the corresponding settings can be made in a manner similar to the method provided in this embodiment, such as Figure 8As shown, the bench test method of the upper computer for the on-board pantograph to be tested using the bench test device can be divided into two parts: basic function test and system function test; the basic function test is to test the effectiveness of the bow raising / lowering basic function unit and the bow rotation basic function unit of the pantograph to be tested, and the system function test can test the bow raising / lowering control, lateral following control and emergency bow lowering control functions to be completed by the motion control system of the pantograph to be tested.

[0095] Accordingly, the goal of the basic function test is to verify the correctness of a single basic function module or unit and ensure that each unit operates normally independently. After each basic function test is completed, the test results can be compared with the test requirements to determine whether the basic function test has passed. If it is found that the result of a basic function test does not meet the requirements, the corresponding prompt information can be output to prompt the user to optimize the corresponding function module or unit, such as structural design, equipment selection and equipment parameter adjustment, until it meets the test requirements. When all basic function tests are passed, the subsequent system function test stage can be entered.

[0096] The effectiveness test of the basic function unit of the pantograph raising / lowering of the pantograph to be tested may include the following process: after the pantograph system is powered on and ventilated normally, confirm that the pantograph (i.e. the pantograph to be tested) is in the state of lowering the pantograph (e.g. Fig. 9 After the pantograph is confirmed to be in the state of raising the bow, the pantograph is directly controlled to be lowered through the electric control cylinder system board until the pantograph reaches the state of lowering the bow. During this period, the time from the sending of the bow raising pulse signal to the state of raising the bow is recorded, which is regarded as the bow lowering time. If the bow head and the bow arm rise smoothly and without abnormal jitter during the process of raising the bow, and the bow raising time does not exceed the preset bow raising time (such as 8s), the test result of the effectiveness of raising the bow is determined to be passed. If the bow head and the bow arm fall smoothly and without abnormal jitter during the process of lowering the bow, and the bow lowering time does not exceed the preset bow lowering time (such as 10s), the test result of the effectiveness of lowering the bow is determined to be passed.

[0097] That is to say, the method provided in this embodiment may also include the host computer sending a pantograph raising control instruction to the electric cylinder system of the pantograph to be tested according to the acquired pantograph raising test instruction, so as to control the electric cylinder system to perform the pantograph raising operation, and record the first time of sending the pantograph raising control instruction; obtaining the second time when the pantograph to be tested reaches the pantograph raising position state; and determining the pantograph raising test result of the pantograph to be tested according to the first time, the second time and the preset maximum pantograph raising time. Among them, the pantograph raising test instruction may include a pantograph raising validity test instruction. When the pantograph raising test instruction is a pantograph raising validity test instruction, the above-mentioned process of sending the pantograph raising control instruction to the electric cylinder system of the pantograph to be tested may be sending the pantograph raising control instruction to the electric cylinder system board of the electric cylinder system, so as to control the electric cylinder system board to perform the pantograph raising operation.

[0098] In addition, the method provided in this embodiment may further include the host computer sending a pantograph lowering control instruction to the electric cylinder system of the pantograph to be tested according to the acquired pantograph lowering test instruction, so as to control the electric cylinder system to perform the pantograph lowering operation, and record the third time of sending the pantograph lowering control instruction; obtaining the fourth time when the pantograph to be tested reaches the pantograph lowering position; and determining the pantograph lowering test result of the pantograph to be tested according to the third time, the fourth time and the preset maximum pantograph lowering time. The pantograph lowering test instruction may include a pantograph lowering validity test instruction. When the pantograph lowering test instruction is a pantograph lowering validity test instruction, the above process of sending the pantograph lowering control instruction to the electric cylinder system of the pantograph to be tested may be sending the pantograph lowering control instruction to the electric cylinder system board of the electric cylinder system, so as to control the electric cylinder system board to perform the pantograph lowering operation.

[0099] Correspondingly, such as Fig.10 As shown, the effectiveness test of the basic functional unit of the pantograph rotation of the above-mentioned pantograph to be tested may include the following process: after the pantograph system is powered on and ventilated normally, and after confirming that the pantograph is in the raised state, the host computer can communicate with the servo motor system of the pantograph to be tested through the host computer software via the serial port; a preset step rotation angle signal (such as 5°) is sent to the servo motor through the host computer software, and the dynamic response process data of the pantograph to the step signal is recorded using the data recording software; a preset sinusoidal rotation angle signal (such as 5sin(2t)°) is sent to the servo motor through the host computer software, and the dynamic response process data of the pantograph to the sinusoidal signal is recorded using the data recording software; if in the step response case, the pantograph rotates smoothly, the rise time does not exceed 300ms, and the steady-state error is within 5%, and in the sinusoidal response case, the pantograph rotates smoothly, the tracking delay does not exceed 500ms, and the peak error is within 10%, then the bow rotation function effectiveness test result is determined to be passed.

[0100] That is to say, the method provided in this embodiment may also include the host computer obtaining a bow rotation function test instruction; sending a predicted rotation angle test signal to the servo motor of the pantograph to be tested according to the bow rotation function test instruction; wherein the predicted rotation angle test signal includes a preset step rotation angle signal and / or a preset sinusoidal rotation angle signal; obtaining the dynamic response process data of the pantograph to be tested to the predicted rotation angle test signal; and determining the bow rotation function effectiveness test result of the pantograph to be tested according to the dynamic response process data, the preset rotation function test time threshold and the preset rotation function test error threshold.

[0101] Correspondingly, the above-mentioned system function test can be used to verify the interaction and integration between multiple functional modules or unit components, and the system function test is usually carried out after the effectiveness of each functional module or unit has been verified. The motion control system of the on-board pantograph is implemented through software and deployed in the motion control unit of the vehicle or pantograph. Its core responsibilities are to perform raising / lowering control, lateral following control and emergency pantograph lowering control on the pantograph. These three system-level functions ensure that the vehicle can successfully obtain power from the overhead contact network, maintain stable contact between the pantograph and the network, and prevent the occurrence of the pantograph falling off or hanging on the network during driving. They are the key to the successful implementation of on-board pantograph technology. Therefore, in this embodiment, these three system-level functions can be bench tested, such as Figure 7 The following figure shows the test of the lateral following control function.

[0102] The test of the above-mentioned raising / lowering control function may include the following process: after the pantograph system is powered on and ventilated normally, and after confirming that the pantograph is in the pantograph lowering state, the motion control system that controls the pantograph sends a pantograph raising pulse signal to the electric control cylinder system through the IO output interface of the motion control unit (simulating the process triggered by the driver pressing the pantograph raising button in the cab), and then the pantograph starts to raise the pantograph until it reaches the pantograph raising state. During the detection process, whether the pantograph head and the pantograph arm rise smoothly during the pantograph raising process, whether abnormal jitter or jamming occurs, and the pantograph raising time is recorded at the same time; after confirming that the pantograph is in the pantograph raising state, the motion control system that controls the pantograph sends a pantograph lowering pulse signal to the electric control cylinder system through the IO output interface of the motion control unit ( The process is simulated when the driver presses the lowering button in the cab and the pantograph is triggered), and then the pantograph starts to lower the pantograph until it reaches the fully lowered state. During the detection process, the pantograph head and the pantograph arm are tested to see whether they descend smoothly, whether there is any abnormal shaking or jamming, and the pantograph lowering time is recorded at the same time. If the pantograph raising button is simulated to successfully achieve pantograph raising control, and the pantograph head and the pantograph arm rise smoothly without abnormal shaking during the pantograph raising process, and the pantograph raising time does not exceed the preset pantograph raising time (such as 8s), then the pantograph raising control function test result is determined to be passed. If the pantograph lowering button is simulated to successfully achieve pantograph lowering control, and the pantograph head and the pantograph arm descend smoothly without abnormal shaking during the pantograph lowering process, and the pantograph lowering time does not exceed the preset pantograph lowering time (such as 10s), then the pantograph lowering control function test result is determined to be passed.

[0103] That is to say, the above-mentioned bow raising test instruction may include a bow raising control function test instruction. When the bow raising test instruction is a bow raising control function test instruction, the above-mentioned process of sending the bow raising control instruction to the electric-controlled cylinder system of the pantograph to be tested may be that the motion control system that controls the pantograph to be tested sends the bow raising control instruction (such as a bow raising pulse signal) to the electric-controlled cylinder system through the IO output interface of the motion control unit. The above-mentioned bow lowering test instruction may include a bow lowering control function test instruction. When the bow lowering test instruction is a bow lowering control function test instruction, the above-mentioned process of sending the bow lowering control instruction to the electric-controlled cylinder system of the pantograph to be tested may be that the motion control system that controls the pantograph to be tested sends the bow lowering control instruction (such as a bow lowering pulse signal) to the electric-controlled cylinder system through the IO output interface of the motion control unit.

[0104] Correspondingly, the test of the above-mentioned emergency pantograph lowering control function may include the following process: after the pantograph system is powered on and ventilated normally, and after confirming that the pantograph is in the pantograph lowering state, the pantograph is controlled to raise and wait for it to be raised, and then the contact network line is controlled to move to the center position of the bow head carbon slide board; the contact network line is controlled to move to the left and right respectively to a position beyond the maximum lateral following distance of the pantograph (simulating the situation when the vehicle's driving trajectory seriously deviates from the upper contact network line), and the pantograph is automatically lowered after the contact network line exceeds the edge position of the carbon slide board; if the pantograph can automatically realize emergency lowering after the contact network line exceeds the edge position of the carbon slide board, and the pantograph bow head does not hang on the contact network line during the emergency lowering process, then the emergency pantograph lowering function test result is determined to be passed.

[0105] That is to say, the method provided in this embodiment may also include the upper computer controlling two actuators to move the slider on the guide rail according to the preset pantograph lowering control trajectory according to the acquired emergency pantograph lowering function test instruction, so that the two contact network lines contacted by the bow head carbon slide board after the pantograph to be tested is raised into place are respectively moved to outside the preset maximum lateral range; obtaining the emergency pantograph lowering record data of the pantograph to be tested; wherein the emergency pantograph lowering record data includes the static contact pressure between the bow head carbon slide board and the corresponding contact network lines detected by the stress detection equipment and / or the video data of the pantograph to be tested collected by the camera; and determining the emergency pantograph lowering function test result of the pantograph to be tested according to the emergency pantograph lowering record data.

[0106] In this embodiment, the embodiment of the present invention controls two actuators in the bench test device to move the slider on the guide rail according to a preset trajectory. The actuators on the two supporting frames in the bench test device can be used to control the two contact network lines contacted by the pantograph to move laterally, thereby realizing the test of the lateral following control function of the pantograph. The defects of the pantograph of the electrified road vehicle can be discovered in advance, and the adjustment and optimization of the on-board pantograph motion control system can be assisted, thereby reducing the research and development cost of the pantograph of the electrified road vehicle.

[0107] Corresponding to the above method embodiment, the embodiment of the present invention further provides a computer program product. The computer program product described below and the bench test method of a vehicle-mounted pantograph described above can be referred to each other.

[0108] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the bench test method for a vehicle-mounted pantograph provided in the above method embodiment.

[0109] Corresponding to the above method embodiment, an embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium described below and the bench test method for a vehicle-mounted pantograph described above can be referred to each other.

[0110] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the bench test method for a vehicle-mounted pantograph of the above method embodiment.

[0111] The computer-readable storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., which can store program codes.

[0112] In addition, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the bench test method for a vehicle-mounted pantograph as described above are implemented.

[0113] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. As for the computer program products and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0114] The above is a detailed introduction to a bench test device, method and computer-readable storage medium for a vehicle-mounted pantograph provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A bench test device for a vehicle-mounted pantograph, characterized in that: include: Two support frames and two actuators; wherein each of the support frames comprises an upper crossbar, a lower crossbar, and a supporting connection structure between the upper crossbar and the lower crossbar; Each of the actuators is arranged on an upper crossbar of a corresponding support frame; each of the actuators comprises a linear motor module and two cable fixing blocks arranged on a slider of the linear motor module; the linear motor module comprises a motor, a guide rail and the slider, which is used to drive the slider to move linearly along the guide rail through the rotation of the motor; each of the cable fixing blocks is used to fix a contact wire, so that the two actuators are connected by two contact wires fixed by their two cable fixing blocks; The pantograph to be tested is placed between the two supporting frames arranged opposite to each other, so that after the pantograph to be tested is raised into place, the carbon slide plate of the pantograph head contacts the two contact wires between the actuators of the two supporting frames.

2. The bench test device for the on-board pantograph according to claim 1, characterized in that: Also includes: A fixing rod, both ends of which are detachably connected to one of the supporting frames.

3. The bench test device for the on-board pantograph according to claim 2, characterized in that: The support connection structure comprises a left vertical rod and a right vertical rod, wherein the first ends of the left vertical rod and the right vertical rod in each of the support frames are connected to the upper cross bar in the support frame, and the second ends of the left vertical rod and the right vertical rod in each of the support frames are connected to the lower cross bar in the support frame; The fixing rod comprises a first fixing rod and a second fixing rod, wherein two ends of the first fixing rod are respectively detachably connected to a left vertical rod in the support frame, and two ends of the second fixing rod are respectively detachably connected to a right vertical rod in the support frame.

4. The bench test device for the on-board pantograph according to claim 3, characterized in that: Bases are respectively arranged at the connection positions of the lower cross bar in each support frame and the left vertical bar and the right vertical bar in the support frame, and the bases are provided with a preset number of bolt holes for connecting with the ground or the test table through bolts.

5. The bench test device for on-vehicle pantograph according to claim 1, characterized in that: Each of the actuators comprises two of the linear motor modules, and the two cable fixing blocks in each of the actuators are respectively arranged on a slider in a corresponding one of the linear motor modules.

6. The bench test device for on-vehicle pantograph according to claim 1, characterized in that: The two cable fixing blocks in each of the actuators are detachably connected to a preset position corresponding to each other on the slider of the linear motor module, and the slider includes at least two preset positions for installing the cable fixing blocks.

7. The bench test device for a vehicle-mounted pantograph according to any one of claims 1 to 6, characterized in that: Also includes: The stress detection device is used to detect the static contact pressure between the pantograph head carbon slide plate and the contact network line after the pantograph to be tested is raised into place.

8. A bench test method for a vehicle-mounted pantograph, characterized in that: A bench test device for a vehicle-mounted pantograph as claimed in any one of claims 1 to 7, comprising: The upper computer controls the two actuators in the bench test device to move the sliders on the guide rails according to the preset trajectory according to the acquired lateral following test instructions, so that the two contact network wires contacted by the pantograph carbon slide plate after the pantograph to be tested is raised into place undergo a test lateral movement; wherein each of the contact network wires passes through a corresponding cable fixing block on each of the actuators, and the two contact network wires are within the preset maximum lateral range during the test lateral movement; Acquire the lateral following test record data of the pantograph to be tested; wherein the lateral following test record data includes the lateral following error of the pantograph to be tested to the contact network line; The lateral following test result of the pantograph to be tested is determined according to the lateral following test record data.

9. The bench test method for a vehicle-mounted pantograph according to claim 8, characterized in that: The host computer controls two actuators in the bench test device to move the slider along a preset track on the guide rail according to the acquired lateral following test instruction, including: After obtaining the lateral following test instruction, the host computer detects whether the pantograph to be tested is raised to the correct position; If yes, control the two actuators to move the sliders to their respective corresponding preset positions on the guide rails, so that the two contact wires are respectively located at the center of the bow head carbon slide plates they are in contact with; After each of the slide blocks moves to its corresponding preset position, two actuators in the bench test device are controlled to move the slide block along a preset trajectory on the guide rail.

10. The bench test method for a vehicle-mounted pantograph according to claim 8, characterized in that: Also includes: According to the acquired pantograph raising test instruction, a pantograph raising control instruction is sent to the electric-controlled cylinder system of the pantograph to be tested, so as to control the electric-controlled cylinder system to perform a pantograph raising operation, and the first time of sending the pantograph raising control instruction is recorded; Obtaining a second time when the pantograph to be tested reaches a pantograph-raised state; The pantograph raising test result of the pantograph to be tested is determined according to the first time, the second time and the preset maximum pantograph raising time.

11. The bench test method for a vehicle-mounted pantograph according to claim 10, characterized in that: The step of sending a pantograph raising control instruction to the electric control cylinder system of the pantograph to be tested according to the acquired pantograph raising test instruction comprises: If the bow raising test instruction is a bow raising validity test instruction, a bow raising control instruction is sent to the electric control cylinder system board of the electric control cylinder system to control the electric control cylinder system board to perform a bow raising operation; If the pantograph raising test instruction is a pantograph raising control function test instruction, the motion control system controlling the pantograph to be tested sends the pantograph raising control instruction to the electric-controlled cylinder system through the IO output interface of the motion control unit.

12. The bench test method for a vehicle-mounted pantograph according to claim 8, characterized in that: Also includes: The host computer obtains a bow rotation function test instruction; According to the pantograph rotation function test instruction, a predicted rotation angle test signal is sent to the servo motor of the pantograph to be tested; wherein the predicted rotation angle test signal includes a preset step rotation angle signal and / or a preset sinusoidal rotation angle signal; Acquiring dynamic response process data of the pantograph to be tested to the predicted rotation angle test signal; The pantograph rotation function validity test result of the pantograph to be tested is determined according to the dynamic response process data, the preset rotation function test time threshold and the preset rotation function test error threshold.

13. The bench test method for a vehicle-mounted pantograph according to claim 8, characterized in that: The lateral following test record data also includes video data of the pantograph to be tested collected by a camera during the lateral movement of the two overhead contact lines; The step of determining the lateral following test result of the pantograph to be tested according to the lateral following test record data comprises: According to the video data, judging whether the movement of the pantograph to be tested following the contact wires is smooth and without any jamming during the lateral movement of the two contact wires; If yes, determining whether the absolute value of the lateral following error exceeds a preset following error threshold; If the preset following error threshold is not exceeded, the lateral following test result is determined to be a test pass.

14. The bench test method for a vehicle-mounted pantograph according to any one of claims 8 to 13, characterized in that: Also includes: The host computer controls the two actuators to move the sliders on the guide rails according to the preset pantograph lowering control trajectory according to the acquired emergency pantograph lowering function test instruction, so that the two contact network wires contacted by the pantograph head carbon slide plate after the pantograph to be tested is raised into place are respectively moved out of the preset maximum lateral range; Acquire the emergency pantograph lowering record data of the pantograph to be tested; wherein the emergency pantograph lowering record data includes the static contact pressure between the pantograph head carbon slide plate and the corresponding contact network line detected by the stress detection equipment and / or the video data of the pantograph to be tested collected by the camera; According to the emergency pantograph lowering record data, the emergency pantograph lowering function test result of the pantograph to be tested is determined.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the bench test method for a vehicle-mounted pantograph as claimed in any one of claims 8 to 14 are implemented.

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