Real-time calculation method, system and device for diameter of rubber wheel

Abstract

The invention discloses a real-time calculation method, system and device for the diameter of a rubber wheel, and the method comprises the steps: obtaining a first parameter of a rubber-tyred vehicle in a no-load state, calculating the diameter of the rubber wheel, obtaining a second parameter of the rubber-tyred vehicle in an actual operation process, obtaining the diameter of the rubber wheel through a real-time diameter calculation model, and calculating the diameter of the rubber-tyred vehicle. Calculating through a weighting method to obtain an estimated wheel diameter; and correcting and updating coefficients in the model to obtain the rubber wheel diameter. The problem of speed and displacement measurement deviation caused by the fact that the wheel diameter of the inflatable rubber-tyred vehicle is changed by factors such as tire pressure and load capacity is solved, real-time accurate calculation of the wheel diameter is achieved through methods such as initial calibration, real-time estimation model construction and parameter self-learning, reliable speed and position data are provided for the vehicle, and the accuracy of the wheel diameter measurement is improved. And the requirements of a modern passenger transport system on high-informatization and high-automation operation are met.

Description

Technical Field

[0001] The present invention relates to the technical field of rail vehicles, and in particular to a real-time calculation method, system and device for rubber wheel diameter. Background Art

[0002] In modern passenger transportation systems such as rail transit, ART (Autonomous-rail Rapid Transit), and buses, there are cases where vehicles with pneumatic wheels run in underground tunnels or on roads. Modern passenger transportation systems all require high informatization and high automation, and need to obtain the precise speed and precise position of the vehicle in real time. The use of satellite or communication positioning can solve most operational requirements, but in underground tunnels, unavoidable physical obstructions, and scenarios where there are safety requirements for vehicle speed and position, it is still necessary to use the product of wheel diameter and axle rotation frequency to obtain the vehicle displacement distance and calibrate the vehicle position through an absolute reference point. Since the wheel diameter of the pneumatic wheel will change with changes in factors such as inflation pressure, wheel rotational inertia, and vehicle load, in order to obtain accurate vehicle speed and displacement, a method that can calculate the wheel diameter in real time based on relevant influencing factors is required.

[0003] In response to the above challenges, how to provide a real-time calculation method, system and device for the rubber tire diameter based on influencing factors is a technical problem that needs to be solved urgently in this field. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide a real-time calculation method, system and device for the wheel diameter of a rubber wheel. Based on the initial value calibrated when the empty vehicle leaves the warehouse, the wheel diameter value is inferred in real time according to factors such as the wheel axle rotation frequency, tire pressure, and load capacity. During operation, the wheel diameter is calibrated at fixed points based on the reference points arranged on the operating path to implement a two-stage correction method, and the optimal wheel diameter of the pneumatic wheel is obtained through this method.

[0005] To achieve the above objectives, the present application provides a real-time calculation method for the diameter of a rubber wheel.

[0006] The above-mentioned application objective 1 of this application is achieved through the following technical solutions: A real-time calculation method for a rubber wheel diameter includes: Obtaining a first parameter of the rubber-tyred vehicle in an unloaded state, and calculating the wheel diameter in the unloaded state based on the first parameter; Obtain a second parameter during the actual operation of the rubber-tyred vehicle, and use a pre-built real-time wheel diameter calculation model to calculate the real-time wheel diameter based on the second parameter, wherein the real-time wheel diameter calculation model is specifically: ; Where, P is the tire pressure in the empty state, W is the load in the actual operation, P is the tire pressure in the empty state, W is the load in the actual operation, P is the tire pressure in the empty state, W is the load in the actual operation, P is the tire pressure in the empty state, W is the load in the actual operation, P is the tire pressure in the empty state, W is the load in the actual operation, According to the wheel diameter in the empty state and the wheel diameter in the real-time state, the estimated wheel diameter is calculated by a weighting method; According to the difference between the wheel diameter in the empty state and the wheel diameter in the real-time state, the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model are respectively corrected to obtain the corrected tire pressure deformation coefficient and the corrected load deformation coefficient; According to the estimated wheel diameter, the corrected tire pressure deformation coefficient and the corrected load deformation coefficient, the real-time wheel diameter calculation model is updated to obtain an updated wheel diameter calculation model; The rubber wheel diameter is calculated by using the updated wheel diameter calculation model.

[0007] Preferably, the empty state wheel diameter calculation formula comprises: ; Wherein, the distance of the empty train ab point is , the total number of wheel axle pulses is , and the number of wheel axle pulses per rotation is .

[0008] Preferably, the updated estimated wheel diameter by the weighting method comprises: ; Wherein, is the weighting coefficient.

[0009] Preferably, the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model are respectively corrected to: ; ; Wherein, , are the adaptive coefficients of tire pressure and load respectively, is the tire pressure deformation coefficient correction amount, is the load deformation coefficient correction amount.

[0010] Preferably, the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model are optimized online by gradient descent method.

[0011] The second object of the present application is to provide a real-time calculation system for the tire diameter of a rubber tire.

[0012] The second object of the present application is achieved by the following technical solution. A real-time calculation system for the tire diameter of a rubber tire comprises: A no-load tire diameter calculation module is configured to obtain a first parameter in a no-load state of a rubber tire vehicle and calculate a tire diameter in the no-load state according to the first parameter. A model construction module is configured to obtain a second parameter in an actual running process of the rubber tire vehicle and calculate a tire diameter in a real-time state according to the second parameter by using a pre-constructed real-time tire diameter calculation model. ; In the formula, D0 represents the tire diameter in the no-load state, P represents the tire pressure in the actual running process, D0 represents the tire diameter in the no-load state, P represents the tire pressure in the actual running process, D0 represents the tire diameter in the no-load state, P represents the tire pressure in the actual running process, D0 represents the tire diameter in the no-load state, P represents the tire pressure in the actual running process, D0 represents the tire diameter in the no-load state, P represents the tire pressure in the actual running process, D0 represents the tire diameter in the no-load state, P represents the tire pressure in the actual running process, A tire diameter estimation module is configured to calculate an estimated tire diameter by using a weighting method according to the tire diameter in the no-load state and the tire diameter in the real-time state. A difference correction module is configured to correct a tire pressure deformation coefficient and a load deformation coefficient in the real-time tire diameter calculation model respectively according to a difference between the tire diameter in the no-load state and the tire diameter in the real-time state, so as to obtain a corrected tire pressure deformation coefficient and a corrected load deformation coefficient. A model updating module is configured to update the real-time tire diameter calculation model according to the estimated tire diameter, the corrected tire pressure deformation coefficient and the corrected load deformation coefficient, so as to obtain an updated tire diameter calculation model. A tire diameter calculation module is configured to calculate the tire diameter of the rubber tire by using the updated tire diameter calculation model.

[0013] Preferably, when the no-load tire diameter calculation module calculates the tire diameter in the no-load state according to the first parameter, the no-load tire diameter calculation module specifically comprises: ; In the formula, D0 represents the tire diameter in the no-load state, P represents the tire pressure in the actual running process, D0 represents the tire diameter in the no-load state, P represents the tire pressure in the actual running process, D0 represents the tire diameter in the no-load state, P represents the tire pressure in the actual running process, .

[0014] Preferably, when the tire diameter estimation module calculates the estimated tire diameter by using the weighting method according to the tire diameter in the no-load state and the tire diameter in the real-time state, the tire diameter estimation module specifically comprises: ; wherein, is a weighting coefficient.

[0015] Preferably, the difference correction module is configured to correct the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel radius calculation model according to the difference between the wheel radius in the unloaded state and the wheel radius in the real-time state, and specifically includes: ; ; wherein, , are adaptive coefficients of the tire pressure and the load, respectively, is a tire pressure deformation coefficient correction amount, is a load deformation coefficient correction amount.

[0016] A third object of the present application is to provide a real-time calculation device for the wheel radius of a pneumatic tire.

[0017] The second object of the present application is achieved by the following technical solution: A real-time calculation device for the wheel radius of a pneumatic tire, the calculation device comprising: an axle pulse sensor, a load sensor, a tire pressure sensor, a temperature sensor, a tag / transponder reader, a storage, and a calculation processing unit; wherein, the storage is configured to store a computer program; the calculation processing unit is configured to execute the computer program to implement the steps of the real-time calculation method for the wheel radius of a pneumatic tire.

[0018] The present application solves the problem of speed and displacement measurement deviation caused by changes in tire pressure, load, and other factors during the operation of a pneumatic tire vehicle. Through initial calibration, real-time estimation model construction, reference point calibration, and parameter self-learning methods, the present application realizes real-time and accurate calculation of the wheel radius of a pneumatic tire, thereby providing reliable speed and position data for the vehicle and meeting the needs of modern passenger transportation systems (such as rail transportation, ART, and public transportation) for high informationization and high automation operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0020] Figure 1A schematic diagram of a real-time calculation method for a rubber wheel diameter according to an embodiment of the present application; Figure 2 Schematic diagram of a real-time calculation system for rubber wheel diameter in an embodiment of the present application. DETAILED DESCRIPTION

[0021] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0022] In addition, the technical features of the various embodiments or single embodiments provided in this application can be arbitrarily combined with each other to form a feasible technical solution. Such combination is not restricted by the sequence of steps and / or structural composition pattern, but must be based on the ability of ordinary technicians in this field to implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] In the embodiments provided in this application, it should be understood that the disclosed methods and systems can be implemented in other ways. The system embodiments described below are merely illustrative. For example, the division of units and modules is only a logical function division. In actual implementation, there may be other division methods, such as: multiple units or modules can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling communication connection between the components shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0024] In addition, all functional units in the embodiments of the present application may be integrated into one processor, or each unit may be a separate device, or two or more units may be integrated into one device; each functional unit in the embodiments of the present application may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0025] Those skilled in the art can understand that all or part of the steps of the method embodiments described below can be completed by program instructions and related hardware. The foregoing program instructions can be stored in a computer readable storage medium, and the program instructions perform the steps of the method embodiments when executed. The storage medium includes a mobile storage device, a read only memory (ROM), a magnetic disk or an optical disk, and various media that can store program codes.

[0026] It should be understood that if "system", "device", "unit" and / or "module" are used in the present application, it is only a method for distinguishing different components, elements, parts, portions or assemblies of different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0027] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality of" or "several" is two or more, unless otherwise explicitly and specifically limited.

[0028] It should be understood that the structures, proportions, sizes, etc. shown in the drawings of the present application are only used to cooperate with the disclosed content of the present application, to be understood and read by those skilled in the art, and do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, which does not affect the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0029] If flowcharts are used in the present application, the flowcharts are used to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or subsequent operations are not necessarily performed in sequence. On the contrary, each step can be processed in reverse order or simultaneously. Meanwhile, other operations can be added to these processes, or one or more steps can be removed from these processes.

[0030] It should also be noted that in this document, terms such as "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that an article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such article or device. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the article or device comprising the element.

[0031] The implementation methods of this application are written in a progressive manner.

[0032] like Figure 1 As shown, the embodiment of the present application provides a real-time calculation method for the diameter of a rubber wheel, comprising: S1. Obtaining a first parameter of the rubber-tyred vehicle in an unloaded state, and calculating the wheel diameter in the unloaded state based on the first parameter; Specifically, when the rubber-tyred vehicle is unloaded, two high-precision absolute reference points are set. The reference points can be RFID tags or transponders of rail transit. The distance between the reference points is set to , so that the vehicle passes through the two absolute reference points at a constant speed, and the load weight, tire pressure, and axle sensor pulse count at this time are obtained through the vehicle hardware device. , the number of pulses per shaft revolution is .

[0033] S2. Obtain a second parameter during the actual operation of the rubber-tyred vehicle, and use a pre-built real-time wheel diameter calculation model to calculate the real-time wheel diameter based on the second parameter. The real-time wheel diameter calculation model is specifically: ; Where, is the wheel diameter in the no-load state, P is the tire pressure in actual operation, is the tire pressure in the no-load state, W is the actual load in operation, For empty load, is the tire pressure deformation coefficient, is the load deformation coefficient; In actual vehicle operation, the wheel diameter changes with factors such as tire pressure P and load. The wheel diameter increases with increasing tire pressure and decreases with decreasing tire pressure. Let the deformation coefficient be ; The wheel diameter decreases as the load increases, and the deformation coefficient is ; Temperature also affects air pressure, so a calculation model for wheel diameter in real-time operation is obtained. 、 The initial value can be obtained through experiments.

[0034] S3. Calculate an estimated wheel diameter using a weighted method based on the wheel diameter in the no-load state and the wheel diameter in the real-time state; Specifically, according to the calculation method of the no-load wheel diameter in step S1, it is combined with the real-time wheel diameter calculation model in S2 through the dual-source wheel diameter fusion mechanism, and finally the estimated wheel diameter is obtained by the weighted method. .

[0035] S4, according to the difference between the wheel diameter in the unloaded state and the wheel diameter in the real-time state, respectively correct the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model, to obtain the corrected tire pressure deformation coefficient and the corrected load deformation coefficient; Specifically, according to the difference between the unloaded wheel diameter and the real-time wheel diameter, the deformation correction amount of the tire pressure and the load is constructed, and the process is an adaptive correction process: ; ; Among them, , are the adaptive coefficients of the tire pressure and the load respectively, is the tire pressure deformation coefficient correction amount, is the load deformation coefficient correction amount.

[0036] The deformation correction amount of the tire pressure and the load is converted into the corrected tire pressure deformation coefficient and the corrected load deformation coefficient through calculation, including: ; .

[0037] S5, according to the estimated wheel diameter, the corrected tire pressure deformation coefficient and the corrected load deformation coefficient, update the real-time wheel diameter calculation model to obtain an updated wheel diameter calculation model; Specifically, the estimated wheel diameter , the tire pressure deformation coefficient , and the load deformation coefficient are respectively replaced into , , in the wheel diameter calculation model in S2 step, so as to obtain the updated wheel diameter calculation model.

[0038] S6, using the updated wheel diameter calculation model, the rubber wheel diameter is calculated.

[0039] Through the above steps, the application effectively improves the accuracy and reliability of wheel diameter calculation by combining physical model prediction and landmark measurement calibration of two wheel diameter data sources. On the one hand, the physical model prediction (based on dynamic factors such as tire pressure and load) can reflect the changing trend of the wheel diameter in real time, solving the problem that a single dependence on the initial nominal value cannot cope with tire pressure and load fluctuations during operation. On the other hand, the landmark measurement calibration (using the actual distance of the reference point on the running line and the wheel axle pulse count) provides a measured value of the wheel diameter through real running data, which can correct the errors of the model prediction. After the two are fused by the weighting method, both real-time (immediate response of dynamic factors) and accuracy (calibration of measured data) are retained, providing more reliable wheel diameter values for speed and displacement measurement of pneumatic wheel vehicles, meeting the needs of modern passenger transport systems for high informationization and high automation operation.

[0040] In other embodiments, the empty load state wheel diameter calculation formula includes: ; Wherein the distance of the empty train ab point is , the total pulse number of the wheel axle is , and the pulse number per revolution of the wheel axle is .

[0041] In some embodiments, the estimated wheel diameter updated by the weighting method includes: ; Wherein, is the weighting coefficient.

[0042] In some embodiments, the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model are respectively: ; ; Wherein, , are the adaptive coefficients of the tire pressure and the load, is the tire pressure deformation coefficient correction amount, is the load deformation coefficient correction amount.

[0043] By quantifying the difference between the initial wheel diameter and the real-time estimated wheel diameter, the deviation degree of the current tire pressure and load deformation coefficient from the actual wheel diameter change rule is accurately reflected, thereby providing a clear adjustment direction and correction amplitude for parameter optimization; through dynamic updating, the problem of outdated parameters caused by long-term aging and performance degradation of the tire is compensated, so that the model can accurately reflect the actual influence of tire pressure and load on the wheel diameter.

[0044] Preferably, the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model Online optimization is performed by a gradient descent method.

[0045] The key parameters in the model are optimized online by a gradient descent method, solving the problem of inaccurate initial parameters caused by long-term factors such as tire aging and performance changes. Through this mechanism, the model can dynamically adapt to the long-term performance changes of the tire, avoid the estimation deviation of the wheel diameter caused by fixed parameters, and ensure the long-term stability and accuracy of the wheel diameter calculation, thereby providing continuous and reliable basic data for the speed and displacement measurement of the pneumatic wheel vehicle, meeting the demand of modern passenger transport system for high informationization and high automation operation.

[0046] In other embodiments of the application, another implementation of this step is: As shown in Figure 2 , the embodiment of the application provides a real-time calculation system for the wheel diameter of a rubber tire, comprising: An unloaded wheel diameter calculation module is configured to obtain a first parameter in an unloaded state of a rubber tire vehicle, and calculate a wheel diameter in the unloaded state according to the first parameter. A model construction module is configured to obtain a second parameter in an actual running process of the rubber tire vehicle, and calculate a wheel diameter in a real-time state according to the second parameter by using a pre-constructed real-time wheel diameter calculation model, wherein the real-time wheel diameter calculation model is specifically: ; In the formula, D0 is the wheel diameter in the unloaded state, P is the tire pressure in the actual running, is the tire pressure in the unloaded state, W is the load in the actual running, is the load in the unloaded state, is the tire pressure deformation coefficient, is the load deformation coefficient. A wheel diameter estimation module is configured to calculate an estimated wheel diameter by a weighting method according to the wheel diameter in the unloaded state and the wheel diameter in the real-time state. A difference correction module is configured to correct the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model respectively according to the difference between the wheel diameter in the unloaded state and the wheel diameter in the real-time state, and obtain a corrected tire pressure deformation coefficient and a corrected load deformation coefficient. A model updating module is configured to update the real-time wheel diameter calculation model according to the estimated wheel diameter, the corrected tire pressure deformation coefficient and the corrected load deformation coefficient, and obtain an updated wheel diameter calculation model. A wheel diameter calculation module is configured to calculate the wheel diameter of the rubber tire by using the updated wheel diameter calculation model.

[0047] In some embodiments, when the unloaded wheel diameter calculation module calculates the wheel diameter in the unloaded state according to the first parameter, it specifically comprises: ​ ; Among them, the distance between points a and b of the empty train is , total number of axle pulses , number of pulses per shaft revolution .

[0048] In some embodiments, the wheel diameter estimation module is configured to calculate the estimated wheel diameter using a weighted method based on the wheel diameter in the no-load state and the wheel diameter in the real-time state, specifically including: ; in, is the weighting coefficient.

[0049] In some embodiments, the difference correction module is configured to correct the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model based on the difference between the wheel diameter in the unloaded state and the wheel diameter in the real-time state, specifically including: ; ; in, 、 They are the adaptive coefficients of tire pressure and load, is the tire pressure deformation coefficient correction, is the load deformation coefficient correction.

[0050] The embodiment of the present invention also provides a real-time calculation device for the diameter of a rubber wheel; The device includes: a wheel axle pulse sensor, a load sensor, a tire pressure sensor, a temperature sensor, a tag / transponder reader, a storage and a computing processing unit; Wherein, the memory is used to store computer programs; The calculation processing unit is used to execute the real-time calculation method of the rubber wheel diameter of any embodiment of the present invention when executing the computer program.

[0051] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0052] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0053] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and that the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A real-time calculation method for rubber wheel diameter, characterized in that: include: Obtaining a first parameter of the rubber-tyred vehicle in an unloaded state, and calculating the wheel diameter in the unloaded state based on the first parameter; Obtain a second parameter during the actual operation of the rubber-tyred vehicle, and use a pre-built real-time wheel diameter calculation model to calculate the real-time wheel diameter based on the second parameter, wherein the real-time wheel diameter calculation model is specifically: ； Where, is the wheel diameter in the no-load state, P is the tire pressure in actual operation, is the tire pressure in the no-load state, W is the actual load in operation, For empty load, is the tire pressure deformation coefficient, is the load deformation coefficient; Calculating an estimated wheel diameter using a weighted method based on the wheel diameter in the no-load state and the wheel diameter in the real-time state; According to the difference between the wheel diameter in the unloaded state and the wheel diameter in the real-time state, respectively correcting the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model to obtain a corrected tire pressure deformation coefficient and a corrected load deformation coefficient; updating the real-time wheel diameter calculation model according to the estimated wheel diameter, the corrected tire pressure deformation coefficient, and the corrected load deformation coefficient to obtain an updated wheel diameter calculation model; The updated wheel diameter calculation model is used to calculate the rubber wheel diameter.

2. The method for real-time calculation of the diameter of a rubber wheel according to claim 1, characterized in that: The calculation formula for the wheel diameter in the no-load state includes: ； Among them, the distance between points a and b of the empty train is , total number of axle pulses , number of pulses per shaft revolution .

3. The method for real-time calculation of the diameter of a rubber wheel according to claim 1, characterized in that: The estimated wheel diameter after the weighted method is updated includes: ； in, is the weighting coefficient.

4. The method for real-time calculation of the diameter of a rubber wheel according to claim 1, characterized in that: The tire pressure deformation coefficient and load deformation coefficient in the real-time wheel diameter calculation model are respectively corrected as follows: ; ; in, 、 They are the adaptive coefficients of tire pressure and load, is the tire pressure deformation coefficient correction, is the load deformation coefficient correction.

5. The method for real-time calculation of the diameter of a rubber wheel according to claim 1, characterized in that: Tire pressure deformation coefficient in the real-time wheel diameter calculation model and load deformation coefficient Online optimization is performed via gradient descent.

6. A real-time calculation system for rubber wheel diameter, characterized in that: include: an unloaded wheel diameter calculation module, configured to obtain a first parameter of the rubber-tyred vehicle in an unloaded state, and calculate the wheel diameter in the unloaded state based on the first parameter; The model building module is used to obtain the second parameter during the actual operation of the rubber-wheeled vehicle and use the pre-built real-time wheel diameter calculation model to calculate the real-time wheel diameter according to the second parameter, wherein the real-time wheel diameter calculation model is specifically: ； Where, is the wheel diameter in the no-load state, P is the tire pressure in actual operation, is the tire pressure in the no-load state, W is the actual load in operation, For empty load, is the tire pressure deformation coefficient, is the load deformation coefficient; A wheel diameter estimation module, configured to calculate an estimated wheel diameter using a weighted method based on the wheel diameter in the no-load state and the wheel diameter in the real-time state; a difference correction module, configured to correct the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model according to the difference between the wheel diameter in the unloaded state and the wheel diameter in the real-time state, thereby obtaining a corrected tire pressure deformation coefficient and a corrected load deformation coefficient; a model updating module, configured to update the real-time wheel diameter calculation model according to the estimated wheel diameter, the corrected tire pressure deformation coefficient, and the corrected load deformation coefficient, to obtain an updated wheel diameter calculation model; The wheel diameter calculation module is used to calculate the wheel diameter of the rubber wheel using the updated wheel diameter calculation model.

7. The real-time calculation system for rubber wheel diameter according to claim 6, characterized in that: The unloaded wheel diameter calculation module, when calculating the wheel diameter in an unloaded state according to the first parameter, specifically includes: ； Among them, the distance between points ab of the empty train is , the total number of axle pulses is , the number of pulses per shaft revolution is .

8. The real-time calculation system for rubber wheel diameter according to claim 6, characterized in that: The wheel diameter estimation module is configured to calculate the estimated wheel diameter using a weighted method based on the wheel diameter in the no-load state and the wheel diameter in the real-time state, and specifically includes: ; in, is the weighting coefficient.

9. The real-time calculation system for rubber wheel diameter according to claim 6, characterized in that: The difference correction module is configured to correct the tire pressure deformation coefficient and the load deformation coefficient in the real-time wheel diameter calculation model according to the difference between the wheel diameter in the no-load state and the wheel diameter in the real-time state, and specifically includes: ; ; in, 、 They are the adaptive coefficients of tire pressure and load, is the tire pressure deformation coefficient correction, is the load deformation coefficient correction.

10. A real-time calculation device for rubber wheel diameter, characterized in that: The real-time computing device comprises: Axle pulse sensor, load sensor, tire pressure sensor, temperature sensor, tag / transponder reader, storage and computing processing unit; Wherein, the storage device is used to store computer programs; The computing processing unit is configured to implement the steps of a real-time calculation method for a rubber wheel diameter as described in any one of claims 1 to 5 when executing the computer program.

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