Electrified road pantograph control and state monitoring method

Abstract

The invention relates to the technical field of pantographs, in particular to an electrified highway pantograph control and state monitoring method, which comprises the following steps of: acquiring operation data of pantograph contact pressure, voltage, current and vehicle speed based on the real-time operation state of the pantograph, segmenting according to the number of a vehicle driving path, calculating the change trend of the contact pressure, and calculating the state of the pantograph according to the change trend. And obtaining path gradient index data. According to the invention, through segment data acquisition of contact pressure, voltage, current and vehicle speed and track serial number association processing, diversity of monitoring data and track pressure change capture capability are improved, and through cooperative association analysis of pantograph slide plate state, current change and pressure fluctuation, a fault range is effectively reduced, and fault diagnosis accuracy is improved. The method is advantaged in that fault positioning accuracy is enhanced, potential offset areas and unbalance points in the track can be identified, and through distribution characteristic analysis, contact point fluctuation marking precision is optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of pantographs, and particularly to a method for controlling and monitoring the state of an electrified road pantograph. Background Art

[0002] The field of condition monitoring technology refers to the technology of real-time monitoring, analyzing, and diagnosing the operating state of equipment or systems through technical means such as sensors, data acquisition, signal processing, and analysis algorithms. Condition monitoring technology is widely applied in fields such as mechanical equipment, power systems, and transportation. Its core objective is to promptly detect abnormal states or potential faults of equipment, thereby performing preventive maintenance or optimizing operations, and enhancing the reliability, efficiency, and safety of system operation. Typical condition monitoring contents include vibration, temperature, electrical parameters, wear conditions, etc. Usually, automated and intelligent monitoring and diagnosis functions are achieved by combining Internet of Things, big data, and artificial intelligence technologies.

[0003] Among them, for real-time monitoring and control of the working state of the pantograph, it is used to ensure the stable connection between the pantograph and the electrified road power supply system, ensure that the vehicle can efficiently and continuously obtain power from the road during operation, and improve the safety and reliability of the equipment through condition monitoring means, reduce sudden failures during operation, and meet the requirements for clean energy and intelligent transportation in modern transportation systems.

[0004] Due to relying on single or a small number of operating parameters, the prior art is prone to ignoring the details of sudden pressure fluctuations in the trajectory when capturing the dynamic relationship between complex trajectory changes and the state of the pantograph slide plate, unable to identify the correlation between current changes and pressure fluctuations, resulting in difficult accurate positioning of abnormal sections, large ranges of trajectory deviation and contact point fluctuations, affecting the accurate judgment of the fault area. In the real-time analysis of arc fluctuations and pressure offsets, it is easy to cause the fault range of the contact point to be blurred, delaying the implementation of dynamic adjustment strategies. In the dynamic adjustment of the lifting mechanism, the lifting action is not flexible, resulting in over-adjustment or under-adjustment, thereby increasing equipment wear and reducing operating efficiency. Summary of the Invention

[0005] In order to solve the technical problems existing in the prior art, such as the details of sudden changes in pressure fluctuations in the trajectory are easily ignored when capturing the dynamic relationship between complex trajectory changes and the state of the pantograph slide due to relying on a single or small number of operating parameters, the correlation between current changes and pressure fluctuations cannot be identified, resulting in difficult accurate positioning of abnormal sections, large ranges of trajectory deviation and contact point fluctuations, affecting the accurate judgment of the fault area, and in the real-time analysis of arc fluctuations and pressure offsets, it is easy to cause the fault range of the contact point to be blurred, delaying the implementation of the dynamic adjustment strategy. In the dynamic adjustment of the lifting mechanism, the lifting action is not flexible, resulting in over-adjustment or under-adjustment, thereby increasing equipment wear and reducing operating efficiency. An embodiment of the present invention provides a method for controlling and monitoring the state of an electrified road pantograph. The technical solution is as follows:

[0006] On the one hand, a method for controlling and monitoring the state of an electrified road pantograph is provided, including the following steps:

[0007] S1: Based on the real-time operating state of the pantograph, collect the operating data of the contact pressure, voltage, current, and vehicle speed of the pantograph, segment by the vehicle driving path number, calculate the change trend of the contact pressure, and obtain the path gradient index data;

[0008] S2: Based on the path gradient index data, calculate the pressure fluctuation amplitude according to the change trend of the contact point pressure within the path number, and monitor the surface state of the pantograph within the trajectory section according to the trajectory position with abnormal fluctuation values, to obtain the pressure fluctuation characteristics;

[0009] S3: Based on the pressure fluctuation characteristics, identify the corresponding pantograph state, current change, and pressure fluctuation amplitude data, calculate the difference value of the pressure and current changes, identify the trajectory section with unbalanced pressure and current correlation, and analyze the trajectory distribution characteristics of the fluctuation data to obtain the dynamic distribution characteristic data;

[0010] S4: Based on the dynamic distribution characteristic data, analyze the contact pressure of the pantograph and arc fluctuations under the vehicle driving path number, identify the contact points with excessive offset, and determine the correlation between the pantograph and the trajectory position to obtain the contact point offset characteristics;

[0011] S5: Based on the contact point offset characteristics, analyze the pressure fluctuation and arc offset value of the contact point, compare the pressure fluctuation of the pantograph on the trajectory with the difference in electrical parameters, identify the trajectory associated with the fault point, and obtain the fault trajectory marking result;

[0012] S6: Based on the fault trajectory marking result, adjust the control parameters of the pantograph lifting mechanism, set the range of the lifting height and contact point pressure, and re-collect the operating parameters of the pantograph to obtain the trajectory pressure dynamic optimization table.

[0013] Optionally, the path gradient index data includes the pressure change trend and mutation points, the pressure fluctuation characteristics include the fluctuation amplitude, the position difference comparison result, and the abnormal position monitoring status, the dynamic distribution characteristic data includes the unbalanced section identification result and the trajectory distribution analysis status, and the contact point offset characteristic specifically refers to the pressure distribution analysis result, the arc fluctuation identification information, and the offset overlimit positioning point. The trajectory pressure dynamic optimization table includes the control parameter adjustment log, the pantograph operation analysis data, and the matching degree analysis result.

[0014] Optionally, based on the real-time operation status of the pantograph, the operation data of the pantograph contact pressure, voltage, current, and vehicle speed are collected, segmented by the vehicle driving path number, the change trend of the contact pressure is calculated, and the pressure gradient mutation points are marked. The specific steps for obtaining the path gradient index data are as follows:

[0015] S101: Based on the real-time operation status of the pantograph, collect the operation data of the pantograph contact pressure, voltage, current, and vehicle speed, synchronously record the timestamp and geographical location of the data, and identify the abnormal status in the data to obtain the data acquisition record set;

[0016] S102: Based on the data acquisition record set, segment according to the vehicle driving path number, perform trend analysis on the contact pressure of the segmented data, identify the change trend of the pressure, and classify and process the pressure changes in adjacent intervals to obtain the contact pressure change analysis result;

[0017] S103: Based on the contact pressure change analysis result, calculate the difference in the contact pressure change trend of each path segment, compare the pressure change amount at adjacent time points, and identify the pressure gradient mutation points to obtain the path gradient index data.

[0018] Optionally, based on the path gradient index data, calculate the pressure fluctuation amplitude according to the change trend of the contact point pressure within the path number, compare the difference between the trajectory position and the fluctuation value, and monitor the surface state of the pantograph within the trajectory section according to the trajectory position with abnormal fluctuation value. The specific steps for obtaining the pressure fluctuation characteristics are as follows:

[0019] S201: Based on the path gradient index data, extract the contact point pressure data corresponding to each path number, quantitatively calculate the pressure difference between each data point, and statistically analyze the pressure point difference to obtain the pressure fluctuation amplitude data;

[0020] S202: Based on the pressure fluctuation amplitude data, analyze the correlation between the pressure fluctuation amplitude and the trajectory position, screen the trajectory positions with differences from the average fluctuation value to obtain the abnormal fluctuation trajectory positions;

[0021] S203: Based on the position of the abnormal fluctuation trajectory, monitor the surface state of the pantograph, analyze the correlation between the surface state characteristics of the pantograph and the pressure fluctuation data according to the abnormal trajectory section, and obtain the pressure fluctuation characteristics.

[0022] Optionally, based on the pressure fluctuation characteristics, identify the corresponding pantograph state, current change and pressure fluctuation amplitude data, calculate the difference value of the pressure and current changes, identify the trajectory section where the correlation between pressure and current is unbalanced, and analyze the trajectory distribution characteristics of the fluctuation data to obtain the dynamic distribution characteristic data. The specific steps are as follows:

[0023] S301: Based on the pressure fluctuation characteristics, segmentally collect the pantograph state data and current fluctuation data, extract the contact pressure and current fluctuation values of each data point, analyze the corresponding relationship between data points, and screen the matching parameters between the pressure fluctuation and current change to obtain the pressure fluctuation matching parameters.

[0024] S302: Based on the pressure fluctuation matching parameters, calculate the change difference between pressure and current, screen the deviation sections of the pressure and current changes, determine the interval where the correlation between pressure and current is unbalanced, and obtain the unbalanced section parameter set.

[0025] S303: Based on the unbalanced section parameter set, extract the distribution characteristics of the fluctuation data in the trajectory section, analyze the spatial distribution characteristics of the pressure fluctuation and current change, and obtain the dynamic distribution characteristic data.

[0026] Optionally, when calculating the change difference between pressure and current, the formula is used:

[0027]

[0028] Screen the deviation sections of the pressure and current changes, determine the interval where the correlation between pressure and current is unbalanced, and obtain the unbalanced section parameter set. Among them, Δ diff represents the standardized absolute value of the change difference between pressure and current, PS t represents the pressure value at time t, I t represents the current value at time t, and N represents the number of samples.

[0029] Optionally, based on the dynamic distribution characteristic data, analyze the pantograph contact pressure and arc fluctuation under the vehicle driving path number, identify the contact points with excessive offset, determine the correlation between the pantograph and the trajectory position, and obtain the contact point offset characteristics. The specific steps are as follows:

[0030] S401: Based on the dynamic distribution characteristic data, analyze the pantograph contact pressure and arc fluctuation under the vehicle driving path, evaluate the relationship between the arc fluctuation amplitude and the contact pressure change, identify the abnormal fluctuation points, and obtain the abnormal fluctuation point data.

[0031] S402: Based on the abnormal fluctuation point data, screen the data points where the arc fluctuation and the contact pressure fluctuation exceed the limit, compare the numerical relationship between the pressure fluctuation and the arc fluctuation, identify the contact points with deviation exceeding the limit, and obtain the characteristics of the contact points exceeding the limit;

[0032] S403: Based on the characteristics of the contact points exceeding the limit, analyze the pressure change and the arc fluctuation distribution of the offset contact points within the trajectory section, calculate the position of the contact points in the path number, determine the correlation between the contact point position and the pressure distribution, and obtain the characteristics of the contact point offset.

[0033] Optionally, for screening the data points where the arc fluctuation and the contact pressure fluctuation exceed the limit, calculate the standard deviation of the pressure fluctuation, using the formula:

[0034]

[0035] Compare the numerical relationship between the pressure fluctuation and the arc fluctuation, identify the contact points with deviation exceeding the limit, and obtain the characteristics of the contact points exceeding the limit, where Δp represents the standard deviation of the pressure fluctuation, P i represents the contact pressure value of the i-th data point, represents the average value of the contact pressure values, and n represents the total number of data points.

[0036] Optionally, based on the characteristics of the contact point offset, analyze the pressure fluctuation and the arc offset value of the contact point, compare the pressure fluctuation on the trajectory with the difference in electrical parameters of the pantograph, identify the trajectory associated with the fault point, and the steps for obtaining the fault trajectory marking result are specifically as follows:

[0037] S501: Based on the characteristics of the contact point offset, analyze the pressure fluctuation and the arc offset data during the operation of the contact point, sort the data according to the time series, and judge the corresponding relationship between the pressure and the arc parameters to obtain the pressure and arc matching information;

[0038] S502: Based on the pressure and arc matching information, analyze the change of the pressure fluctuation value and the arc offset value, calculate the amplitude range of the pressure fluctuation and the deviation value of the arc offset, and analyze the numerical correlation and the trend change to obtain the fluctuation deviation identification table;

[0039] S503: Based on the fluctuation deviation identification table, screen the trajectory characteristics of abnormal fluctuations, mark the trajectory position parameters and time information of the abnormal fluctuations, and obtain the fault trajectory marking result.

[0040] Optionally, based on the fault trajectory marking result, according to the position of the fault point and the path number, adjust the control parameters of the pantograph lifting mechanism, set the range of the lifting height and the contact point pressure, and re-collect the operation parameters of the pantograph, and analyze the matching degree between the pantograph action and the trajectory position to obtain the steps for the dynamic optimization table of the trajectory pressure are specifically as follows:

[0041] S601: Based on the fault trajectory marking result, refine the path number and trajectory position parameters of the fault point, evaluate the deviation from the existing control parameters, and reset the operation range of the pantograph lifting mechanism to obtain the summary of pantograph regulation parameters.

[0042] S602: Based on the summary of pantograph regulation parameters, re-collect the pressure fluctuation data and lifting height data during the operation of the pantograph, group the data according to the differential time and position, and identify the fluctuation range and height change of each trajectory segment to obtain the operation state of the pantograph.

[0043] S603: Based on the operation state of the pantograph, analyze the matching degree between the pressure fluctuation and the trajectory position, evaluate the relationship between the lifting height change and the pressure fluctuation, screen the trajectory key points with high matching degree, and analyze the change trend of the operation parameters of the key points to obtain the dynamic optimization table of trajectory pressure.

[0044] The beneficial effects brought by the technical solution provided by the embodiment of the present invention at least include:

[0045] By associating the segmented data collection of contact pressure, voltage, current and vehicle speed with the trajectory number, the diversity of monitoring data and the ability to capture the change of trajectory pressure are improved. Through the collaborative correlation analysis of the pantograph slider state, current change and pressure fluctuation, the fault range is effectively reduced, the accuracy of fault location is enhanced, potential offset areas and imbalance points in the trajectory can be identified, and the accuracy of contact point fluctuation marking is optimized through distribution feature analysis. On the basis of trajectory fault marking, through the dynamic adjustment of the pantograph slider lifting parameters and the redistribution of trajectory pressure, the real-time optimization of trajectory dynamic changes is carried out, reducing operation faults and improving the stability of the monitoring system while improving the collaborative operation effect of the pantograph and the power supply network. Description of the Drawings

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 is the main step flow chart of the present invention;

[0048] Figure 2 is the step flow chart of S1 of the present invention;

[0049] Figure 3 is the step flow chart of S2 of the present invention;

[0050] Figure 4 Flow chart of step S3 of the present invention;

[0051] Figure 5 Flow chart of step S4 of the present invention;

[0052] Figure 6 Flow chart of step S5 of the present invention;

[0053] Figure 7 Flow chart of step S6 of the present invention. Detailed implementation manners

[0054] The technical solutions in the present invention will be described below with reference to the accompanying drawings.

[0055] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of the word "example" is intended to present concepts in a specific manner. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two.

[0056] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same. "(of)", "corresponding", and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same.

[0057] In the embodiments of the present invention, sometimes a subscript such as W 1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meanings they express are the same.

[0058] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0059] The embodiments of the present invention provide an electrified road pantograph control and status monitoring method, as Figure 1 shown, including the following steps:

[0060] S1: Based on the real-time operating state of the pantograph, collect the operating data of the contact pressure, voltage, current and vehicle speed of the pantograph, segment by the vehicle driving path number, calculate the change trend of the contact pressure, and mark the pressure gradient mutation points to obtain path gradient index data;

[0061] S2: Based on the path gradient index data, calculate the amplitude of pressure fluctuation according to the change trend of the contact point pressure within the path number, compare the difference between the trajectory position and the fluctuation value, and monitor the surface state of the pantograph within the trajectory section according to the trajectory position with abnormal fluctuation value, so as to obtain the pressure fluctuation characteristics;

[0062] S3: Based on the pressure fluctuation characteristics, identify the corresponding pantograph state, current change and pressure fluctuation amplitude data, calculate the difference value of the pressure and current changes, identify the trajectory section with unbalanced pressure-current correlation, and analyze the trajectory distribution characteristics of the fluctuation data, so as to obtain the dynamic distribution characteristic data;

[0063] S4: Based on the dynamic distribution characteristic data, analyze the pantograph contact pressure and arc fluctuation under the vehicle driving path number, identify the contact points with excessive offset, and determine the correlation between the pantograph and the trajectory position, so as to obtain the contact point offset characteristics;

[0064] S5: Based on the contact point offset characteristics, analyze the pressure fluctuation and arc offset value of the contact point, compare the pressure fluctuation of the pantograph on the trajectory with the difference of electrical parameters, identify the trajectory associated with the fault point, so as to obtain the fault trajectory marking result;

[0065] S6: Based on the fault trajectory marking result, adjust the control parameters of the pantograph lifting mechanism according to the position and path number of the fault point, set the range of the lifting height and contact point pressure, and re-collect the operation parameters of the pantograph, and analyze the matching degree between the pantograph action and the trajectory position, so as to obtain the dynamic optimization table of the trajectory pressure.

[0066] The path gradient index data includes the pressure change trend and mutation points. The pressure fluctuation characteristics include the fluctuation amplitude, the comparison result of position difference, and the monitoring state of abnormal positions. The dynamic distribution characteristic data includes the identification result of the unbalanced section and the analysis state of the trajectory distribution. The contact point offset characteristics specifically refer to the pressure distribution analysis result, the arc fluctuation identification information, and the over-limit offset positioning point. The dynamic optimization table of the trajectory pressure includes the control parameter adjustment log, the pantograph action analysis data, and the matching degree analysis result.

[0067] As Figure 2 shown, the steps of collecting the operation data of the pantograph contact pressure, voltage, current and vehicle speed based on the real-time operation state of the pantograph, segmenting by the vehicle driving path number, calculating the change trend of the contact pressure, and marking the pressure gradient mutation points to obtain the path gradient index data are specifically as follows:

[0068] S101: Based on the real-time operation state of the pantograph, collect the operation data of the pantograph contact pressure, voltage, current and vehicle speed, synchronously record the timestamp and geographical location of the data, and identify the abnormal state in the data, so as to obtain the data acquisition record set;

[0069] The sensor component is used to perform point-by-point data sampling on the contact pressure, voltage, and current of the pantograph. The sensor is installed near the connection point between the pantograph slider and the current collector. The vehicle speed is collected in real time by the on-vehicle speed measurement device and synchronously sampled with other parameters. The timestamp of the recorded data is generated by a high-precision clock. At the same time, the geographical location information is collected in real time by the on-vehicle GPS device and matched. The received raw data is filtered and noise is removed. Among them, the sliding window average method is used to remove spike data and outliers, and then the abnormal data is detected by setting a threshold. The time, geographical location, and corresponding operating parameters of the abnormal points are recorded and stored as a data acquisition record set.

[0070] S102: Based on the data acquisition record set, segment it according to the vehicle driving path number, perform trend analysis on the contact pressure of the segmented data, identify the change trend of the pressure, and classify and process the pressure changes in adjacent intervals to obtain the analysis result of the contact pressure change;

[0071] The principle of path segmentation is based on the vehicle GPS trajectory and driving direction. The segmentation algorithm is used to perform interval processing on the continuous data. In each interval, trend analysis is performed using the time series of the contact pressure data. By calculating the moving average value and change rate of the pressure value, the change trend of the pressure data over time is analyzed. At the same time, the abnormal fluctuation points within the interval are identified. For the trend of the pressure change in adjacent intervals, cluster analysis is performed on the pressure increment through the classification processing algorithm. For example, the K-means algorithm is used to divide the increment into three categories: rising, falling, and stable, so as to determine the relevance and consistency of the pressure change in adjacent intervals. Finally, the analysis result of the contact pressure change is obtained.

[0072] S103: Based on the analysis result of the contact pressure change, calculate the difference in the change trend of the contact pressure for each path segment, compare the pressure change amounts at adjacent time points, and identify the pressure gradient mutation points to obtain the path gradient index data;

[0073] The gradient change amount is obtained by using the difference in the pressure values at adjacent time points. The finite difference method is used to calculate the pressure change gradient for each interval. By constructing a gradient change matrix, the gradient changes in different intervals are compared, and the time points and geographical locations of the gradient mutations are extracted. For the mutation points in the gradient change matrix, combined with the pressure time series, it is confirmed whether the change amplitude exceeds the preset threshold. When the set conditions are met, it is marked as a mutation point, and the path gradient index data including the path number, mutation time point, pressure change amplitude, and geographical location is output.

[0074] Such as Figure 3As shown in the figure, based on the path gradient index data, according to the change trend of the contact point pressure within the path number, calculate the pressure fluctuation amplitude, compare the difference between the trajectory position and the fluctuation value, and monitor the surface state of the pantograph within the trajectory section according to the trajectory position with abnormal fluctuation value. The specific steps for obtaining the pressure fluctuation characteristics are as follows:

[0075] S201: Based on the path gradient index data, extract the contact point pressure data corresponding to each path number, quantitatively calculate the pressure difference between each data point, and statistically analyze the pressure point difference to obtain the pressure fluctuation amplitude data;

[0076] Group the path gradient index data according to the path number. The contact point pressure data in each path is arranged in chronological order. By calculating the difference value between adjacent pressure data point by point, calculate the absolute difference of the pressure values of every two adjacent data points, and record all the difference values in turn. Store the difference values as a set of pressure difference values, and then statistically analyze the pressure difference values in the set. The analysis content includes the maximum value, minimum value, average value and data distribution, and at the same time identify the data points with extremely high or extremely low values in the difference values, mark the path number and data position corresponding to the points, and finally obtain the pressure fluctuation amplitude data.

[0077] S202: Based on the pressure fluctuation amplitude data, analyze the correlation between the pressure fluctuation amplitude and the trajectory position, and screen the trajectory positions with differences from the average fluctuation value to obtain the abnormal fluctuation trajectory positions;

[0078] First, match the pressure fluctuation amplitude data and the trajectory position information to form a corresponding data table of the trajectory position and the pressure fluctuation amplitude. Then, statistically analyze the pressure fluctuation amplitude of the trajectory position, compare the pressure fluctuation amplitude of each trajectory position with the average value of the overall pressure fluctuation amplitude, calculate the deviation value of each trajectory position from the average fluctuation amplitude, and screen out the trajectory positions with significant differences from the average fluctuation amplitude according to the deviation value. Mark the number and section of the trajectory position, and at the same time identify the trajectory position as an abnormal fluctuation point or abnormal fluctuation interval, and finally obtain the abnormal fluctuation trajectory positions.

[0079] S203: Based on the abnormal fluctuation trajectory positions, monitor the surface state of the pantograph, and analyze the correlation between the surface state characteristics of the pantograph and the pressure fluctuation data according to the abnormal trajectory section to obtain the pressure fluctuation characteristics;

[0080] For the surface area of the pantograph corresponding to the abnormal fluctuation trajectory position, use a camera device to obtain the surface image of the pantograph slider, process the image data, extract the specific surface features of the pantograph slider, such as the area, depth of the wear area, the width and length of the surface cracks, etc. Combine the pressure fluctuation amplitude data, and analyze the surface features and the abnormal fluctuation intervals one by one to identify the relationship between the surface features and the pressure fluctuations. Further classify the surface state of the pantograph into a normal area and an abnormal area, and summarize the pressure fluctuation characteristics based on the analysis results to describe the operating state of the pantograph at the abnormal trajectory position.

[0081] As Figure 4 shown, based on the pressure fluctuation characteristics, identify the corresponding pantograph state, current change and pressure fluctuation amplitude data, calculate the difference value of the pressure and current changes, identify the trajectory section where the pressure-current correlation is out of balance, and analyze the trajectory distribution characteristics of the fluctuation data to obtain the dynamic distribution characteristic data. The specific steps are as follows:

[0082] S301: Based on the pressure fluctuation characteristics, segmentally collect the pantograph state data and current fluctuation data, extract the contact pressure and current fluctuation values of each data point, analyze the corresponding relationship between data points, and screen the matching parameters between the pressure fluctuation and current change to obtain the pressure fluctuation matching parameters;

[0083] After segmenting and extracting the pantograph state data according to the trajectory path, the collected data includes the contact pressure value and the corresponding current value at each time point. When collecting, the pressure fluctuation data is read point by point, and the current value at each moment is synchronously collected. All data is arranged in chronological order and stored as a time series data set. Subsequently, the difference between the pressure value and the current value of every two adjacent data points is calculated respectively, and the corresponding relationship between the pressure fluctuation data and the current change data in time is analyzed. The matching parameters between the two are extracted, and the change interval of the pressure fluctuation value is compared with the numerical range of the current change one by one to screen out the parameter set with matching relative change amplitude and change frequency, obtain the pressure fluctuation matching parameters and complete the processing.

[0084] S302: Based on the pressure fluctuation matching parameters, calculate the change difference between the pressure and the current, screen the deviation sections of the pressure and current changes, and determine the interval where the pressure-current correlation is out of balance to obtain the out-of-balance section parameter set;

[0085] After segmenting the matching parameters and classifying them into the corresponding trajectory position intervals, perform a difference analysis on the pressure fluctuation change values and current change values within each segment. Group the pressure change values and current change values within each segment according to the absolute difference. At the same time, mark the segments where the difference range exceeds the average level, centrally store the difference data of the marked segments, and then screen out the segments with significant deviations between the pressure and current changes, and conduct a detailed analysis of the segments. Combine the trajectory position information to organize the deviation data into a set of deviation segments, further identify the intervals where the correlation between the pressure and current is unbalanced according to the deviation range and distribution, and finally obtain the parameter set of the unbalanced segments.

[0086] Calculate the change difference between the pressure and the current using the formula:

[0087]

[0088] Screen the deviation segments of the pressure and current changes, determine the intervals where the correlation between the pressure and the current is unbalanced, and obtain the parameter set of the unbalanced segments. Among them, Δ diff represents the standardized absolute value of the change difference between the pressure and the current, PS t represents the pressure value at time t, I t represents the current value at time t, and N represents the number of samples;

[0089] During a monitoring process, the pressure and current readings of 4 data points were collected, and the readings are as follows:

[0090] t 1 Time: PS t1 = 100, I t1 = 90;

[0091] t 2 Time: PS t2 = 105, I t2 = 85;

[0092] t 3 Time: PS t3 = 98, I t3 = 95;

[0093] t 4 Time: PS t4 = 103, I t4 = 100;

[0094] First, calculate the difference between the pressure and the current at each time point:

[0095] t 1 Difference = 100 - 90 = 10;

[0096] t 2 Difference = 105 - 85 = 20;

[0097] t 3 Difference = 98 - 95 = 3;

[0098] t 4 Difference = 103 - 100 = 3;

[0099] Then calculate the sum of the difference values:

[0100] ∑(PS t -I t ) = 10 + 20 + 3 + 3 = 36;

[0101] The sample size N = 4.

[0102] Finally, substitute the sum into the formula to calculate Δ diff :

[0103]

[0104] The calculated value of Δ diff is 18, and the value represents the absolute value of the standardized change difference between pressure and current. By monitoring and analyzing this difference value, it can help identify and determine the interval of the imbalance in the correlation between pressure and current, and can be used to optimize the performance of the relevant system or predict future maintenance requirements.

[0105] S303: Based on the imbalance section parameter set, extract the distribution characteristics of the fluctuation data of the trajectory section, analyze the spatial distribution characteristics of the pressure fluctuation and current change, and obtain the dynamic distribution characteristic data;

[0106] Classify the trajectory data of the imbalance section into segments, extract and separately store the pressure fluctuation data and current change data within the trajectory section, then conduct a spatial distribution analysis on the data within each trajectory section, statistically analyze the distribution range of the pressure fluctuation amplitude and the density of the current change amplitude within the trajectory section, identify the local differences in the fluctuation data within different trajectory sections by comparing the pressure values and current values at each trajectory position point by point, and visually display the data distribution situation in combination with the imbalance parameters of the trajectory section. Finally, summarize the spatial distribution characteristics of the pressure fluctuation and current change in the trajectory section.

[0107] As Figure 5 shown, based on the dynamic distribution characteristic data, analyze the pantograph contact pressure and arc fluctuation under the vehicle driving path number, identify the contact points with excessive deviation, determine the correlation between the pantograph and the trajectory position, and the steps to obtain the contact point deviation characteristics are specifically as follows:

[0108] S401: Based on the dynamic distribution characteristic data, analyze the pantograph contact pressure and arc fluctuation under the vehicle driving path, evaluate the relationship between the arc fluctuation amplitude and the contact pressure change, identify the abnormal fluctuation points, and obtain the abnormal fluctuation point data;

[0109] According to the track numbers of the dynamic distribution characteristic data, the contact pressure data and the arc fluctuation data in the track sections are sorted by segments. The pressure fluctuation data within each track section is analyzed in one-to-one correspondence with the arc fluctuation amplitude. By calculating the relationship between the change in contact pressure and the change in arc fluctuation amplitude at each time point, a matching analysis of the change trends is carried out. The time points with a high correlation between the pressure change and the arc fluctuation are screened out, and an abnormal fluctuation detection is performed on the time points. The detection methods include identifying the fluctuation amplitude exceeding the set upper and lower limits and the points with abnormal change rates, and obtaining the abnormal fluctuation point data.

[0110] S402: Based on the abnormal fluctuation point data, screen out the data points where the arc fluctuation and the contact pressure fluctuation exceed the limit, and compare the numerical relationship between the pressure fluctuation and the arc fluctuation to identify the contact points with deviation exceeding the limit, and obtain the characteristics of the over-limit contact points;

[0111] Filter the abnormal fluctuation point data, screen out the points where both the contact pressure fluctuation value and the arc fluctuation value exceed the preset threshold range, group and store the over-limit data points according to the track numbers. Then analyze the numerical relationship between the contact pressure fluctuation and the arc fluctuation in the over-limit data points, calculate the proportional relationship between the pressure fluctuation value and the arc fluctuation amplitude for each group of data points, further identify the contact points with significant differences between the two, mark the contact points as the contact points with deviation exceeding the limit, and organize them into a characteristic data set of over-limit contact points.

[0112] Screen out the data points where the arc fluctuation and the contact pressure fluctuation exceed the limit, calculate the standard deviation of the pressure fluctuation, using the formula:

[0113]

[0114] Compare the numerical relationship between the pressure fluctuation and the arc fluctuation to identify the contact points with deviation exceeding the limit, and obtain the characteristics of the over-limit contact points, where Δp represents the standard deviation of the pressure fluctuation, P i represents the contact pressure value of the i-th data point, represents the average value of the contact pressure values, and n represents the total number of data points;

[0115] There are the following contact pressure data points (kPa):

[0116] P = {100, 105, 98, 103, 97};

[0117] The data is obtained through actual measurement and reflects the fluctuation of the contact pressure during the operation of the equipment. First, calculate the average pressure

[0118]

[0119] Calculate the square of the difference between each data point and the average value, and then sum them up:

[0120]

[0121] Substitute the above summation value into the formula to calculate the standard deviation of the pressure fluctuation:

[0122]

[0123] The result shows that the standard deviation of the pressure fluctuation is 3.01 kPa, which reflects the volatility of the contact point pressure. This standard deviation of the pressure fluctuation is used to identify the contact points with excessive deviation.

[0124] S403: Based on the characteristics of the over-limit contact points, analyze the pressure change and arc fluctuation distribution of the offset contact points in the track section, calculate the position of the contact points on the path number, determine the correlation between the contact point position and the pressure distribution, and obtain the contact point offset characteristics;

[0125] Group the over-limit contact point characteristic data according to the track number, extract the pressure fluctuation values and arc fluctuation value data of all over-limit contact points in each track section, perform distribution characteristic statistics on the data points in the track section, identify the distribution density and spatial position offset of the offset contact points in the track section, combine the path number of the track section and the over-limit contact point characteristics, calculate the specific position of each contact point on the path number, perform corresponding analysis on the pressure distribution and arc fluctuation data of the contact points, and finally sort out the correlation between the contact point position and the pressure distribution.

[0126] As Figure 6 shown, based on the contact point offset characteristics, analyze the pressure fluctuation and arc offset value of the contact points, compare the pressure fluctuation and electrical parameter differences of the pantograph on the track, identify the track associated with the fault point, and the specific steps to obtain the fault track marking result are as follows:

[0127] S501: Based on the contact point offset characteristics, analyze the pressure fluctuation and arc offset data of the contact points during operation, sort the data according to the time series, and judge the corresponding relationship between the pressure and arc parameters to obtain the pressure and arc matching information;

[0128] Extract the offset characteristics of each contact point in the track path, sort the pressure fluctuation data and arc offset data of the contact points into a time series data set according to the time sequence, perform corresponding matching on the contact pressure value and arc offset value point by point in the time series, gradually analyze the relationship between the pressure change value and arc offset value at each time point, screen out the matching points with a significant corresponding relationship by comparing the fluctuation amplitude and fluctuation frequency of their numerical changes, and at the same time mark the track number and time information corresponding to the matching points, and finally sort it into a data set of pressure and arc matching information.

[0129] S502: Based on the pressure and arc matching information, analyze the variation of the pressure fluctuation value and the arc offset value, calculate the amplitude range of the pressure fluctuation and the deviation value of the arc offset, and analyze the numerical correlation and trend variation to obtain a fluctuation deviation identification table;

[0130] Divide the numerical ranges of the pressure fluctuation value and the arc offset value for each data point in the matching information. By statistically analyzing the fluctuation amplitude range and the offset value range of the data points, calculate the difference data between the two, identify the data points with a large pressure fluctuation amplitude and a small arc offset value, or the data points with a large arc offset value and a small pressure fluctuation amplitude. At the same time, analyze the time variation trend of the difference data points, further classify and organize all the data according to the variation trend of the numerical correlation, extract the deviation points of the pressure fluctuation and the arc offset changes, record the time series and trajectory numbers of the deviation points, and finally generate a fluctuation deviation identification table.

[0131] S503: Based on the fluctuation deviation identification table, screen the trajectory characteristics of abnormal fluctuations, mark the trajectory position parameters and time information of the abnormal fluctuations to obtain a fault trajectory marking result;

[0132] According to the deviation point data in the fluctuation deviation identification table, group the deviation points of each trajectory number, extract the data ranges of the pressure fluctuation amplitude and the arc offset value of all the deviation points in the trajectory section, and statistically analyze the distribution of the deviation points in each trajectory section. Mark the position parameters and time information of all the abnormal fluctuation points in the trajectory section, store the trajectory section numbers and time points of the abnormal fluctuations one by one as a trajectory characteristic data table, and finally determine the fault characteristics of the trajectory by combining the abnormal points and time distribution in the trajectory characteristic data table.

[0133] As Figure 7 shown, based on the fault trajectory marking result, according to the position and path number of the fault point, adjust the control parameters of the pantograph lifting mechanism, set the range of the lifting height and the contact point pressure, and re-collect the operating parameters of the pantograph to analyze the matching degree between the pantograph action and the trajectory position. The specific steps to obtain a trajectory pressure dynamic optimization table are as follows:

[0134] S601: Based on the fault trajectory marking result, refine the path number and trajectory position parameters of the fault point, evaluate the deviation from the existing control parameters, and re-set the operation range of the pantograph lifting mechanism to obtain a summary of the pantograph control parameters;

[0135] Extract the fault track numbers and corresponding time and position data in the marking results, accurately classify the path numbers of the fault points, refine the track position parameters according to the spatial coordinates in the track data, match each fault point in the track data with the path number, and extract the pressure fluctuation amplitude and track parameter data of the track section where the fault point is located. At the same time, call the existing control parameter data, compare item by item the differences between the pressure fluctuation amplitude in the fault track and the control parameter range, identify the specific situations where the pressure fluctuation at the fault point exceeds the control range, reset the operation range of the pantograph lifting mechanism according to the difference value, update the maximum lifting height and minimum pressure range of the lifting mechanism, store the newly set control parameters together with the track number and position parameters, and obtain the summary of pantograph regulation parameters.

[0136] S602: Based on the summary of pantograph regulation parameters, re-collect the pressure fluctuation data and lifting height data during the operation of the pantograph, group the data according to the difference time and position, and identify the fluctuation range and height change of each track segment to obtain the operation state of the pantograph;

[0137] According to the update results of the track number and regulation parameter range, start the real-time data acquisition device, record point by point the contact pressure fluctuation value and lifting height change value of the pantograph during operation, organize the collected data into a time series data set according to the time sequence, and at the same time store the data grouped according to the track number and difference time. Conduct statistical analysis on the pressure fluctuation amplitude and lifting height change value within each track segment. The analysis content includes the maximum value, minimum value, and average value of the fluctuation value, identify the fluctuation range and height change range of each track segment, and store the statistical results according to the track number and time sequence to generate the pantograph operation state data.

[0138] S603: Based on the operation state of the pantograph, analyze the matching degree between the pressure fluctuation and the track position, evaluate the relationship between the lifting height change and the pressure fluctuation, screen the track key points with high matching degree, and analyze the change trend of the operation parameters of the key points to obtain the dynamic optimization table of track pressure;

[0139] Organize the pressure fluctuation value and track position parameters in the operation state data according to the time sequence, compare the pressure fluctuation value with the track position point by point, identify the data points with higher matching degree, analyze the corresponding relationship between the pressure fluctuation value and the track number for each track position, and at the same time extract the corresponding relationship between the lifting height change value and the pressure fluctuation value. Screen the track key points with high matching degree, arrange the change trend of the operation parameters of each track key point in chronological order for storage, conduct a refined analysis of the operation trend, identify the pressure fluctuation characteristics and height change rules of the track key points, and generate the dynamic optimization table of track pressure.

[0140] It should be understood that the term "and / or" in this text is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. Additionally, the character " / " in this text generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood by referring to the context before and after.

[0141] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0142] It should be understood that in various embodiments of the present invention, the magnitudes of the serial numbers of the above processes do not imply the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0143] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0144] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the devices, apparatuses, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0145] In several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0146] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0147] In addition, each functional unit in various embodiments of the present invention may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit.

[0148] If the described function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0149] As described above, only the specific implementation manners of the present invention are provided, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for controlling and monitoring the state of an electrified highway pantograph, characterized in that: The method comprises: S1: Based on the real-time operating status of the pantograph, the operating data of the pantograph contact pressure, voltage, current and vehicle speed are collected, segmented according to the vehicle driving path number, the change trend of the contact pressure is calculated, and the path gradient index data is obtained; S2: Based on the path gradient index data, according to the change trend of the contact point pressure within the path number, the pressure fluctuation amplitude is calculated, and according to the track position of the abnormal fluctuation value, the surface state of the pantograph in the track section is monitored to obtain the pressure fluctuation characteristics; S3: Based on the pressure fluctuation characteristics, the corresponding pantograph state, current change and pressure fluctuation amplitude data are identified, the difference between pressure and current changes is calculated, the trajectory section where the pressure and current correlation is unbalanced is identified, and the trajectory distribution characteristics of the fluctuation data are analyzed to obtain dynamic distribution characteristic data; S4: Based on the dynamic distribution characteristic data, analyzing the pantograph contact pressure and arc fluctuation under the vehicle driving path number, identifying the contact point with excessive deviation, determining the correlation between the pantograph and the track position, and obtaining the contact point deviation characteristic; S5: Based on the contact point offset characteristics, analyzing the pressure fluctuation and arc offset value of the contact point, comparing the pressure fluctuation and electrical parameter difference of the pantograph on the trajectory, identifying the trajectory associated with the fault point, and obtaining the fault trajectory marking result; S6: Based on the fault trajectory marking result, adjust the control parameters of the pantograph lifting mechanism, set the range of the lifting height and the contact point pressure, and re-collect the operating parameters of the pantograph to obtain a trajectory pressure dynamic optimization table.

2. The method for controlling and monitoring the state of an electrified highway pantograph according to claim 1, characterized in that: The path gradient index data includes pressure change trends and mutation points; the pressure fluctuation characteristics include fluctuation amplitudes, position difference comparison results, and abnormal position monitoring status; the dynamic distribution characteristic data includes unbalanced section identification results and trajectory distribution analysis status; the contact point offset characteristics specifically refer to pressure distribution analysis results, arc fluctuation identification information, and offset over-limit locations; the trajectory pressure dynamic optimization table includes control parameter adjustment logs, pantograph action analysis data, and matching analysis results.

3. The method for controlling and monitoring the state of an electrified highway pantograph according to claim 1, characterized in that: Based on the real-time operation status of the pantograph, the operation data of the pantograph contact pressure, voltage, current and vehicle speed are collected, segmented by the vehicle driving path number, the change trend of the contact pressure is calculated, and the pressure gradient mutation point is marked. The specific steps to obtain the path gradient index data are as follows: S101: Based on the real-time operating status of the pantograph, the operating data of the pantograph contact pressure, voltage, current and vehicle speed are collected, the timestamp and geographic location of the data are synchronously recorded, abnormal status in the data is identified, and a data collection record set is obtained; S102: Based on the data collection record set, segment the data according to the vehicle driving path number, perform trend analysis on the contact pressure of the segmented data, identify the pressure change trend, and classify and process the pressure changes in adjacent intervals to obtain the contact pressure change analysis result; S103: Based on the contact pressure change analysis result, the difference in contact pressure change trend of each path segment is calculated, the pressure change amounts at adjacent time points are compared, and the pressure gradient mutation points are identified to obtain path gradient index data.

4. The method for controlling and monitoring the state of an electrified highway pantograph according to claim 1, characterized in that: Based on the path gradient index data, according to the change trend of the contact point pressure within the path number, the pressure fluctuation amplitude is calculated, the difference between the trajectory position and the fluctuation value is compared, and according to the trajectory position with abnormal fluctuation value, the pantograph surface state in the trajectory section is monitored to obtain the pressure fluctuation characteristics. Specifically, the steps are as follows: S201: extracting the contact point pressure data corresponding to each path number based on the path gradient index data, quantifying the pressure difference between each data point, and statistically analyzing the pressure point difference to obtain pressure fluctuation amplitude data; S202: Analyze the correlation between the pressure fluctuation amplitude and the trajectory position based on the pressure fluctuation amplitude data, select the trajectory position with a difference from the average fluctuation value, and obtain the fluctuation abnormal trajectory position; S203: Based on the abnormal fluctuation trajectory position, monitor the surface state of the pantograph, analyze the correlation between the pantograph surface state characteristics and the pressure fluctuation data according to the abnormal trajectory section, and obtain the pressure fluctuation characteristics.

5. The method for controlling and monitoring the state of an electrified highway pantograph according to claim 1, characterized in that: Based on the pressure fluctuation characteristics, the corresponding pantograph state, current change and pressure fluctuation amplitude data are identified, the difference between pressure and current changes is calculated, the trajectory section where the pressure and current correlation is unbalanced is identified, and the trajectory distribution characteristics of the fluctuation data are analyzed to obtain the dynamic distribution characteristic data. Specifically, the steps are as follows: S301: Based on the pressure fluctuation characteristics, the pantograph state data and the current fluctuation data are collected in sections, the contact pressure and the current fluctuation value of each data point are extracted, and the corresponding relationship between the data points is analyzed, and the matching parameters between the pressure fluctuation and the current change are screened to obtain the pressure fluctuation matching parameters; S302: Based on the pressure fluctuation matching parameter, calculating the difference between the pressure and the current, screening the deviation sections of the pressure and current changes, and determining the interval of the imbalance of the correlation between the pressure and the current, and obtaining the imbalance section parameter set; S303: Based on the unbalanced section parameter set, extract the distribution characteristics of the fluctuation data of the trajectory section, analyze the spatial distribution characteristics of the pressure fluctuation and the current change, and obtain dynamic distribution characteristic data.

6. The method for controlling and monitoring the state of an electrified highway pantograph according to claim 5, characterized in that: The calculation of the difference in pressure and current changes uses the formula: The deviation sections of pressure and current changes are screened to determine the interval of imbalance in the correlation between pressure and current, and the imbalance section parameter set is obtained, where Δ diff Represents the normalized absolute value of the difference between pressure and current changes, PS t represents the pressure value at time t, I t represents the current value at time t, and N represents the number of samples.

7. The method for controlling and monitoring the state of an electrified highway pantograph according to claim 1, characterized in that: Based on the dynamic distribution characteristic data, the pantograph contact pressure and arc fluctuation under the vehicle driving path number are analyzed, the contact point with excessive deviation is identified, the correlation between the pantograph and the track position is determined, and the steps of obtaining the contact point deviation characteristics are specifically as follows: S401: Based on the dynamic distribution characteristic data, the pantograph contact pressure and arc fluctuation under the vehicle driving path are analyzed, the relationship between the arc fluctuation amplitude and the contact pressure change is evaluated, the abnormal fluctuation point is identified, and the abnormal fluctuation point data is obtained; S402: Based on the abnormal fluctuation point data, screen the data points where the arc fluctuation and the contact pressure fluctuation exceed the limit, compare the numerical relationship between the pressure fluctuation and the arc fluctuation, identify the contact points where the deviation exceeds the limit, and obtain the characteristics of the contact points that exceed the limit; S403: Based on the characteristics of the out-of-limit contact point, analyze the pressure change and arc fluctuation distribution of the offset contact point in the trajectory segment, calculate the position of the contact point on the path number, determine the correlation between the contact point position and the pressure distribution, and obtain the contact point offset characteristics.

8. The method for controlling and monitoring the state of an electrified highway pantograph according to claim 7, characterized in that: The data points where the arc fluctuation and the contact pressure fluctuation exceed the limit are screened and the standard deviation of the pressure fluctuation is calculated using the formula: By comparing the numerical relationship between pressure fluctuation and arc fluctuation, the contact points with excessive deviation are identified and the characteristics of the excessive contact points are obtained, where Δp represents the standard deviation of pressure fluctuation, P i represents the contact pressure value of the ith data point, represents the average contact pressure value, and n represents the total number of data points.

9. The method for controlling and monitoring the state of an electrified highway pantograph according to claim 1, characterized in that: Based on the contact point offset characteristics, the pressure fluctuation and arc offset value of the contact point are analyzed, the pressure fluctuation and electrical parameter difference of the pantograph on the trajectory are compared, the trajectory associated with the fault point is identified, and the steps of obtaining the fault trajectory marking result are specifically as follows: S501: Based on the contact point offset characteristics, analyzing the pressure fluctuation and arc offset data of the contact point during operation, arranging the data according to the time series, and determining the corresponding relationship between the pressure and the arc parameters to obtain the pressure and arc matching information; S502: Based on the pressure and arc matching information, analyze the changes in the pressure fluctuation value and the arc offset value, calculate the amplitude range of the pressure fluctuation and the deviation value of the arc offset, and analyze the numerical correlation and trend change to obtain a fluctuation deviation identification table; S503: Based on the fluctuation deviation identification table, the trajectory characteristics of abnormal fluctuations are screened, and the trajectory position parameters and time information of the abnormal fluctuations are marked to obtain a fault trajectory marking result.

10. The method for controlling and monitoring the state of an electrified highway pantograph according to claim 1, characterized in that: Based on the fault trajectory marking result, according to the position of the fault point and the path number, the pantograph lifting mechanism control parameters are adjusted, the lifting height and the contact point pressure range are set, and the pantograph operation parameters are re-collected to analyze the matching degree between the pantograph action and the trajectory position. The specific steps of obtaining the trajectory pressure dynamic optimization table are as follows: S601: Based on the fault trajectory marking result, the path number and trajectory position parameters of the fault point are refined, the deviation from the existing control parameters is evaluated, and the operating range of the pantograph lifting mechanism is reset to obtain a summary of the pantograph control parameters; S602: Based on the summary of the pantograph control parameters, re-collect the pressure fluctuation data and the lifting height data of the pantograph during operation, group the data according to the difference time and position, and identify the fluctuation range and height change of each trajectory segment to obtain the pantograph operation status; S603: Based on the pantograph operating status, the matching degree between the pressure fluctuation and the trajectory position is analyzed, the relationship between the lifting height change and the pressure fluctuation is evaluated, the trajectory key points with high matching degree are screened, and the changing trend of the operating parameters of the key points is analyzed to obtain a trajectory pressure dynamic optimization table.

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