A method and system for accurately controlling the grinding distance of high-pressure water jet rails

Abstract

The present invention discloses a method and system for accurately controlling the grinding distance of a high-pressure water jet rail, the method comprising: before starting the operation, selecting the grinding distance control accuracy parameter; obtaining the working condition parameters of the rail to be ground, and determining the initial target distance and the ideal nozzle position according to the working condition parameters of the rail to be ground; obtaining the rail surface vibration data, the rail surface real-time profile data and the motion data of the rail grinding vehicle; determining the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the rail surface vibration data, the rail surface real-time profile data, the motion data of the rail grinding vehicle and the distance control accuracy parameters; controlling the movement of the nozzle according to the lateral and longitudinal control parameters. The present invention adopts the Newmark‑β method to solve the nozzle adjustment acceleration, does not directly compensate the nozzle position, can adjust the two degrees of freedom directions of the nozzle vibration, and ensures the continuity and consistency of the grinding rail.

Description

Technical Field

[0001] The present invention belongs to the field of rail grinding control systems, and more specifically, relates to a method and system for accurately controlling the grinding distance of rails using high-pressure water jets. Background Art

[0002] With the rapid economic growth of my country, railway transportation plays an increasingly important role, and the fatigue and wear of rails in the railway system are becoming more and more serious. Rail grinding is an important part of line repair work. Grinding can improve the wheel-rail contact relationship and prevent and delay the occurrence of rail diseases such as contact fatigue, wear, and corrugated wear. If the damaged rails are not repaired in time, the damaged rails will affect the wheel-rail contact during transportation, further aggravating the damage of the rails, which not only seriously threatens the safety of the railway system, but also greatly increases the cost of subsequent maintenance and repair. Therefore, the rails must be repaired regularly.

[0003] At present, the main methods of rail repair are manual repair and rail repair vehicle repair: manual repair mainly adopts welding and other methods, and rail repair vehicle repair includes rail grinding vehicle repair and rail milling vehicle repair. However, in the process of rail repair vehicle repair, there are disadvantages such as fast loss, high pollution and poor versatility. The use of high-pressure water jet to grind rails will not cause thermal damage to the rail surface and will not produce slag pollution.

[0004] In order to solve the above technical problems, the utility model with authorization announcement number CN212553400U (reference document 1) discloses a rail ultra-high pressure abrasive jet and pure water jet combined grinding device, including a travel unit, a control terminal, and a device assembly, an abrasive jet unit and a pure water jet unit installed on the travel unit. The beneficial effect of the utility model is: the abrasive jet and the pure water jet are combined to improve the grinding quality while retaining the hardened layer of the rail. Abrasive water jet grinding technology has a lower grinding amount and more precise processing accuracy. Abrasive water jet technology is a cold processing method and will not produce thermal effects. It can effectively avoid the influence of temperature changes on the performance of rail materials and further improve the processing accuracy.

[0005] However, the nozzles in the abrasive jet unit and pure water jet unit of the above utility model cannot be flexibly adjusted, and the nozzles cannot be widely applied to different types of rails by adjusting the number, angle, speed and other parameters of different nozzles, resulting in low operating efficiency and poor versatility. At the same time, even after overcoming the above shortcomings, the rail repair vehicle will vibrate during driving and working due to external factors such as road conditions, causing the distance between the nozzle and the rail to change. Therefore, it is very important to develop a system that can accurately control the working distance.

[0006] In order to solve the above technical problems, Comparative Document 2 discloses a rail grinding deflection angle control method, and the rail grinding deflection angle control system includes a deflection motor, a downward pressure guide column, a grinding motor, a deflection cradle, a telescopic cylinder, a cradle and a control unit. The control unit obtains the error angle between the current feedback angle of the grinding motor and the target angle preset by the host computer in real time, and continuously adjusts the deflection motor action according to the error angle, so that the grinding motor deflects to the preset target angle, and finally makes the grinding motor perform grinding operations according to the preset target angle. The present invention can solve the technical problem that the grinding angle of the existing rail grinding deflection angle control method is easy to change during the grinding process, resulting in uneven light bands and non-standard grinding rail profiles.

[0007] Comparative Document 3 discloses a rail profile grinding vehicle control system and a control method thereof, which belongs to the field of railway transportation technology. The present invention is to solve the problems that existing large rail grinding vehicles cannot work in low temperature environments, and small grinding vehicles have low efficiency, poor precision and difficult operation. It includes: a main control module, which inputs the set grinding parameters, controls the power module to move to the position where the rails to be polished are located, controls the grinding motor in the grinding cantilever module to adjust the horizontal, vertical and angle, and controls the grinding cantilever module to grind the rails, realizing the control and adjustment of the three degrees of freedom of the grinding motor in the horizontal, vertical and angle, solving the problems of low operating efficiency and low versatility. Summary of the invention

[0008] In view of the above defects or improvement needs of the prior art, the present invention provides a method and system for accurately controlling the grinding distance of high-pressure water jet rails, which adopts Newmark-β to solve the nozzle adjustment acceleration and does not directly compensate the nozzle position. The two degrees of freedom directions of the nozzle vibration can be adjusted to ensure the continuity and consistency of the grinding of the rails.

[0009] To achieve the above object, according to one aspect of the present invention, a method for accurately controlling the grinding distance of a rail by a high-pressure water jet is provided, comprising:

[0010] Before starting the operation, select the grinding distance control accuracy parameters;

[0011] Obtaining the working condition parameters of the rail to be polished, and determining the initial target distance and the ideal nozzle position according to the working condition parameters of the rail to be polished;

[0012] Obtain rail surface vibration data, real-time rail surface profile data, and rail grinding vehicle motion data;

[0013] Determine the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the rail surface vibration data, the real-time profile data of the rail surface, the motion data of the rail grinding vehicle and the distance control accuracy parameters;

[0014] The movement of the nozzle is controlled according to the lateral and longitudinal control parameters.

[0015] Further, the method of determining the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the rail surface vibration data, the rail surface real-time profile data, the motion data of the rail grinding vehicle and the distance control accuracy parameter includes:

[0016] According to the rail surface vibration data, determine the displacement deviation of the rail caused by vibration;

[0017] Determine the change in nozzle target distance based on the real-time profile data of the rail surface;

[0018] Determine the position deviation of the nozzle according to the motion data of the rail grinding vehicle;

[0019] The lateral and longitudinal control parameters of the nozzle adjustment acceleration are determined according to the displacement deviation, the nozzle target distance change, the position deviation and the distance control accuracy parameter.

[0020] Further, the lateral and longitudinal control parameters of the nozzle adjustment acceleration are determined according to the displacement deviation, the nozzle target distance change, the position deviation and the distance control accuracy parameter, including:

[0021] Determine the deviation of the nozzle in the horizontal and vertical directions according to the displacement deviation, the change in the nozzle target distance and the position deviation. If the sum of the squares of the deviation of the nozzle in the horizontal and vertical directions is greater than the distance control accuracy parameter;

[0022] The dynamic response characteristics of the nozzle and the function of the ideal nozzle position deviation are established, and the acceleration of the nozzle adjustment is solved based on the Newmark-β method.

[0023] Further, the method of determining the deviations of the nozzle in the lateral and longitudinal directions according to the displacement deviation, the nozzle target distance change, and the position deviation includes:

[0024] ΔX=dx+δx+VxΔt

[0025] ΔY=dy+δy+VyΔt

[0026] Among them, δx, δy are the displacement deviations of the rails caused by vibration, dx, dy are the changes in the target distance of the nozzle, and VxΔt, VyΔt are the position deviations of the nozzle caused by the movement of the vehicle within a period of time Δt.

[0027] Furthermore, the function of establishing the dynamic response characteristics of the nozzle and the ideal nozzle position offset is used to solve the acceleration of the nozzle adjustment based on the Newmark-β method, including:

[0028] ΔX=dx+δx+VxΔt

[0029] ΔY=dy+δy+VyΔt

[0030] Γ(ΔX,ΔY)=Γ(t)

[0031] Δx i =0.5a xi t i 2 ,Δy i =0.5a yi t i 2

[0032]

[0033] Among them, δx, δy are the displacement deviations of the rails caused by vibration, dx, dy are the changes in the nozzle target distance, VxΔt, VyΔt are the position deviations of the nozzles caused by the movement of the vehicle within a period of time Δt, and a xi , a yi They are the components of the acceleration in the horizontal and vertical directions of the current position calculated based on the Newmark-β method after the i-1th adjustment, Δx i , Δy i is the displacement of the ith adjustment; R i The deviation between the nozzle position and the ideal nozzle position after adjusting the nozzle according to the current acceleration; t i It is the cycle of each acceleration adjustment;

[0034] If R i If the distance control accuracy parameter is not greater than the distance control accuracy parameter, the acceleration a obtained at this time is xn and a yn (n=1,2,…,i), as the lateral and longitudinal control parameters for adjusting the acceleration of the nozzle;

[0035] Furthermore, the method of establishing the function of the dynamic response characteristics of the nozzle and the ideal nozzle position offset and solving the acceleration of the nozzle adjustment based on the Newmark-β method also includes:

[0036] If R i If it is greater than the distance control accuracy parameter, let i=i+1 and continue to solve the acceleration of the nozzle adjustment based on the Newmark-β method.

[0037] According to a second aspect of the present invention, there is provided a high-pressure water jet rail grinding distance precision control system, comprising:

[0038] The precision control module is used to select the distance control precision parameters of grinding;

[0039] An initialization setting module is used to obtain the working condition parameters of the rail to be polished, and determine the initial target distance and nozzle position according to the working condition parameters of the rail to be polished;

[0040] Data acquisition module, used to obtain rail surface vibration data, rail surface real-time profile data and rail grinding vehicle motion data;

[0041] The central processing module is used to calculate the displacement deviation of the rail caused by the vibration according to the rail surface vibration data; determine the change of the nozzle target distance according to the real-time profile data of the rail surface; calculate the position deviation of the nozzle according to the motion data of the rail grinding vehicle; determine the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the displacement deviation, the change of the nozzle target distance, the position deviation and the distance control accuracy parameter;

[0042] The nozzle control module is used to control the movement of the nozzle according to the lateral and longitudinal control parameters.

[0043] Furthermore, the data acquisition module includes: a distance sensor, which is arranged at the bottom of the front end of the rail grinding vehicle and is used to collect rail surface vibration data; a speed sensor, which is used for the speed of the rail grinding vehicle; an acceleration sensor, which is used for the acceleration of the rail grinding vehicle; the speed sensor and the acceleration sensor are both arranged on the body of the rail grinding vehicle.

[0044] Furthermore, the data acquisition module also includes: a second image acquisition unit, which is arranged beside the nozzle at the bottom of the rail grinding vehicle and is used to collect real-time contour data of the rail surface at the grinding position of the nozzle.

[0045] Furthermore, the central processing module includes: a nozzle acceleration determination module, which is used to establish the dynamic response characteristics of the nozzle and the function of the ideal nozzle position offset according to the displacement deviation, the nozzle target distance change, the position deviation and the distance control accuracy parameter, and solve the nozzle adjustment acceleration based on the Newmark-β method:

[0046] Establish the function of the dynamic response characteristics of the nozzle and the position offset of the nozzle:

[0047] ΔX=dx+δx+VxΔt

[0048] ΔY=dy+δy+VyΔt

[0049] Γ(ΔX,ΔY)=Γ(t)

[0050] Δx i =0.5a xi t i 2 ,Δy i =0.5a yi t i 2

[0051]

[0052] Among them, δx, δy are the displacement deviations of the rails caused by vibration, dx, dy are the changes in the nozzle target distance, VxΔt, VyΔt are the position deviations of the nozzles caused by the movement of the vehicle within a period of time Δt, and a xi , a yi They are the components of the acceleration in the horizontal and vertical directions of the current position calculated based on the Newmark-β method after the i-1th adjustment, Δx i , Δy i is the displacement of the ith adjustment; R i is the deviation between the nozzle position and the ideal nozzle position after adjusting the nozzle according to the current acceleration; ti is the period of each acceleration adjustment;

[0053] If R i If the distance control accuracy parameter is not greater than the distance control accuracy parameter, the acceleration a obtained at this time is xn and a yn (n=1,2,…,i), as the lateral and longitudinal control parameters for adjusting the acceleration of the nozzle;

[0054] If R i If it is greater than the distance control accuracy parameter, let i=i+1 and continue to solve the acceleration of the nozzle adjustment based on the Newmark-β method.

[0055] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0056] 1. The distance precision control system of the present invention can automatically adjust the relative position of the water jet emission nozzle and the rail in real time by analyzing and calculating various motion parameters during the vibration of the rail repair vehicle during its operation, thereby achieving efficient and timely adjustment and precise grinding, and can establish a knowledge base under working conditions such as different vibration frequencies, so as to be applicable to the actual working conditions of different track sections such as straight sections, curved sections, and ramp sections.

[0057] 2. The distance precision control system of the present invention can be widely applied to rails of different materials such as carbon rails, alloy rails, heat-treated rails, etc. by setting different mode input parameters. The present invention has a simple and reasonable structure, strong interchangeability, high reliability, and extends the regular maintenance cycle of the rail repair vehicle, reduces maintenance costs, and improves work efficiency.

[0058] 3. The distance precision control system of the present invention is developed for high-pressure water jet rail grinding to accurately control the position of the rails and nozzles during vibration. It can be adjusted in two degrees of freedom directions of vibration during train travel, and the positions of multiple nozzles can be adjusted synchronously to ensure the continuity and consistency of rail grinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a working diagram of the precise control of the distance between the nozzle and the rail in the present invention;

[0060] Figure 2 A schematic diagram of the flow of calculating displacement by the central processing module of the present invention;

[0061] Figure 3 It is a schematic diagram of displacement in two degrees of freedom directions of the present invention;

[0062] Figure 4 It is a schematic diagram of the structure of the high-pressure water jet rail grinding distance precision control system of the present invention;

[0063] Figure 5 Schematic diagram of the algorithm for calculating the nozzle adjustment acceleration of the present invention. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0065] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, when an element is referred to as being "fixed to", "disposed on" or "provided on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element; the terms "installed", "connected", "connected" and "provided with" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0066] In the description of the present invention, it should be understood that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0067] Target distance refers to the distance between the jet outlet and the workpiece surface during high-pressure water jet cutting.

[0068] It should be noted that in this application, the side direction of the horizontal vertical guide rail is the x direction (recorded as horizontal or horizontal, etc.), and the top direction of the vertical vertical guide rail is the y direction (recorded as longitudinal or vertical, etc.)

[0069] like Figure 1 and Figure 4 As shown, the present invention provides a method for accurately controlling the grinding distance of a high-pressure water jet rail. By collecting the surface data of the rail and the motion state data of the rail grinding vehicle and the nozzle, the nozzle acceleration is adjusted to perform stable and continuous high-precision grinding on the rail. The method for accurately controlling the grinding distance of a high-pressure water jet rail described in an embodiment of the present invention includes: A method for accurately controlling the grinding distance of a high-pressure water jet rail, characterized in that it includes:

[0070] Before starting the operation, select the grinding distance control accuracy parameters;

[0071] Obtaining the working condition parameters of the rail to be polished, and determining the initial target distance and the ideal nozzle position according to the working condition parameters of the rail to be polished;

[0072] Obtain rail surface vibration data, real-time rail surface profile data, and rail grinding vehicle motion data;

[0073] Determine the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the rail surface vibration data, the real-time profile data of the rail surface, the motion data of the rail grinding vehicle and the distance control accuracy parameters;

[0074] The movement of the nozzle is controlled according to the lateral and longitudinal control parameters.

[0075] Specifically, the lateral and longitudinal control parameters of the nozzle adjustment acceleration are determined according to the rail surface vibration data, the real-time profile data of the rail surface, the motion data of the rail grinding vehicle and the distance control accuracy parameters, including:

[0076] According to the rail surface vibration data, determine the displacement deviation of the rail caused by vibration;

[0077] Determine the change in nozzle target distance based on the real-time profile data of the rail surface;

[0078] Determine the position deviation of the nozzle according to the motion data of the rail grinding vehicle;

[0079] The lateral and longitudinal control parameters of the nozzle adjustment acceleration are determined according to the displacement deviation, the nozzle target distance change, the position deviation and the distance control accuracy parameter.

[0080] According to the real-time profile data of the rail surface, the change of the nozzle target distance is determined, specifically: according to the real-time profile data of the rail surface, the profile is mathematically fitted and compared, the cutting pressure and removal amount are calculated, and the corresponding change of the nozzle target distance is calculated.

[0081] Specifically, the lateral and longitudinal control parameters of the nozzle adjustment acceleration are determined according to the displacement deviation, the nozzle target distance change, the position deviation and the distance control accuracy parameter, including:

[0082] Determine the deviation of the nozzle in the horizontal and vertical directions according to the displacement deviation, the change in the nozzle target distance and the position deviation. If the sum of the squares of the deviation of the nozzle in the horizontal and vertical directions is greater than the distance control accuracy parameter;

[0083] The dynamic response characteristics of the nozzle and the function of the ideal nozzle position deviation are established, and the acceleration of the nozzle adjustment is solved based on the Newmark-β method.

[0084] Specifically, the method of determining the deviations of the nozzle in the horizontal and vertical directions according to the displacement deviation, the nozzle target distance change, and the position deviation includes:

[0085] ΔX=dx+δx+VxΔt

[0086] ΔY=dy+δy+VyΔt

[0087] Among them, δx, δy are the displacement deviations of the rails caused by vibration, dx, dy are the changes in the target distance of the nozzle, and VxΔt, VyΔt are the position deviations of the nozzle caused by the movement of the vehicle within a period of time Δt.

[0088] Specifically, it can be known from the total offset of the deviations in the horizontal and vertical directions that the deviations in the horizontal and vertical directions are a function related to time, and a mapping relationship between the function and time is established.

[0089] Specifically, if Figure 3 As shown, the function of establishing the dynamic response characteristics of the nozzle and the ideal nozzle position offset is used to solve the acceleration of the nozzle adjustment based on the Newmark-β method, including:

[0090] ΔX=dx+δx+VxΔt

[0091] ΔY=dy+δy+VyΔt

[0092] Γ(ΔX,ΔY)=Γ(t)

[0093] Δx i =0.5a xi t i 2 ,Δy i =0.5a yi t i 2

[0094]

[0095] Among them, δx, δy are the displacement deviations of the rails caused by vibration, dx, dy are the changes in the nozzle target distance, VxΔt, VyΔt are the position deviations of the nozzles caused by the movement of the vehicle within a period of time Δt, and a xi , a yi They are the components of the acceleration in the horizontal and vertical directions of the current position calculated based on the Newmark-β method after the i-1th adjustment, Δx i , Δy i is the displacement of the ith adjustment; R i is the deviation between the nozzle position and the ideal nozzle position after adjusting the nozzle according to the current acceleration; ti is the period of each acceleration adjustment;

[0096] If R i If the distance control accuracy parameter is not greater than the distance control accuracy parameter, the acceleration a obtained at this time is xn and a yn (n=1,2,…,i) as the lateral and longitudinal control parameters for adjusting the acceleration of the nozzle.

[0097] The function of establishing the dynamic response characteristics of the nozzle and the ideal nozzle position offset, and solving the acceleration of the nozzle adjustment based on the Newmark-β method, also includes:

[0098] If R i If it is greater than the distance control accuracy parameter, let i=i+1 and continue to solve the acceleration of the nozzle adjustment based on the Newmark-β method.

[0099] The present invention adopts the Newmark-β method to solve the acceleration of the nozzle adjustment, and does not directly use the servo motor for displacement compensation. The advantage of this method is that it guarantees to the greatest extent that the acceleration between two adjacent moments will not change suddenly, increases the stability of the calculation, and is easy to implement. A direct-drive linear servo motor can meet the requirements.

[0100] The embodiment of the present invention provides a high-pressure water jet rail grinding distance precision control system, such as Figure 5 As shown, including:

[0101] The precision control module is used to select the distance control precision parameters of grinding;

[0102] An initialization setting module is used to obtain the working condition parameters of the rail to be polished, and determine the initial target distance and nozzle position according to the working condition parameters of the rail to be polished;

[0103] Data acquisition module, used to obtain rail surface vibration data, rail surface real-time profile data and rail grinding vehicle motion data;

[0104] The central processing module is used to calculate the displacement deviation of the rail caused by the vibration according to the rail surface vibration data; determine the change of the nozzle target distance according to the real-time profile data of the rail surface; calculate the position deviation of the nozzle according to the motion data of the rail grinding vehicle; determine the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the displacement deviation, the change of the nozzle target distance, the position deviation and the distance control accuracy parameter;

[0105] The nozzle control module is used to control the movement of the nozzle according to the lateral and longitudinal control parameters.

[0106] Specifically, for different rail materials and different grinding quality requirement parameters, the required target distance is directly obtained through grinding test data before grinding. The corresponding target distance can be determined based on the rail material and required parameters, which is generally 5mm to 40mm.

[0107] It should be noted that determining the ideal nozzle position according to the working parameters of the rail to be polished can be obtained through existing technologies, which is not the core of this application and will not be elaborated here.

[0108] The initialization setting module includes: a first image acquisition unit, which is used to acquire images of the surface of the rail to be polished and obtain working condition parameters of the rail to be polished.

[0109] The data acquisition module includes: a distance sensor, which is arranged at the bottom of the front end of the rail grinding vehicle and is used to collect rail surface vibration data; a speed sensor, which is used for the speed of the rail grinding vehicle; and an acceleration sensor, which is used for the acceleration of the rail grinding vehicle. The speed sensor and the acceleration sensor are both arranged on the body of the rail grinding vehicle.

[0110] Specifically, a distance sensor is installed at the bottom of the front end of the rail grinding vehicle to monitor the vibration of the rail surface and collect rail surface vibration data; an image acquisition unit is arranged next to the distance sensor to scan the surface of the rail to be ground in real time and collect rail surface contour data; a velocity sensor and an acceleration sensor are both arranged on the body of the rail grinding vehicle to collect motion data of the rail grinding vehicle.

[0111] The data acquisition module further includes: a second image acquisition unit, which is arranged beside the nozzle at the bottom of the rail grinding vehicle and is used to collect real-time contour data of the rail surface at the grinding position of the nozzle;

[0112] like Figure 2 and Figure 3 As shown, the central processing module receives information such as rail vibration offset, nozzle target distance change, rail grinding vehicle motion offset, etc., establishes the dynamic response characteristics of the nozzle and the function of nozzle position offset, and solves the acceleration of the current position based on the Newmark-β method.

[0113] The central processing module calculates the displacement deviation of the rail caused by vibration through surface vibration data: δx, δy; calculates the corresponding change in nozzle target distance: dx, dy by mathematical fitting and comparison of the rail profile; and calculates the displacement deviation of the nozzle caused by the movement of the vehicle: VxΔt, VyΔt through the motion data of the rail grinding vehicle.

[0114] The central processing module includes: a total offset determination module, which is used to determine the vertical and horizontal offsets of the nozzle according to the displacement deviation, the nozzle target distance change, and the position deviation:

[0115] ΔX=dx+δx+VxΔt

[0116] ΔY=dy+δy+VyΔt

[0117] Among them, δx, δy are the displacement deviations of the rails caused by vibration, dx, dy are the changes in the target distance of the nozzle, and VxΔt, VyΔt are the position deviations of the nozzle caused by the movement of the vehicle within a period of time Δt.

[0118] The central processing module includes: a nozzle acceleration determination module, which is used to establish the dynamic response characteristics of the nozzle and the function of the ideal nozzle position offset according to the displacement deviation, the nozzle target distance change, the position deviation and the distance control accuracy parameter, and solve the acceleration of the nozzle adjustment based on the Newmark-β method.

[0119] The function of establishing the dynamic response characteristics of the nozzle and the ideal nozzle position offset is used to solve the nozzle adjustment acceleration based on the Newmark-β method, including:

[0120] Establish the function of the dynamic response characteristics of the nozzle and the position offset of the nozzle:

[0121] ΔX=dx+δx+VxΔt

[0122] ΔY=dy+δy+VyΔt

[0123] Γ(ΔX,ΔY)=Γ(t)

[0124] Δx i =0.5a xi t i 2 ,Δy i =0.5a yi t i 2

[0125]

[0126] Among them, δx, δy are the displacement deviations of the rails caused by vibration, dx, dy are the changes in the nozzle target distance, VxΔt, VyΔt are the position deviations of the nozzles caused by the movement of the vehicle within a period of time Δt, and a xi , a yi They are the components of the acceleration in the horizontal and vertical directions of the current position calculated based on the Newmark-β method after the i-1th adjustment, Δx i , Δy i is the displacement of the ith adjustment; R i is the deviation between the nozzle position and the ideal nozzle position after adjusting the nozzle according to the current acceleration; ti is the period of each acceleration adjustment;

[0127] If R i If the distance control accuracy parameter is not greater than the distance control accuracy parameter, the acceleration a obtained at this time is xn and a yn (n=1,2,…,i), as the lateral and longitudinal control parameters of the nozzle to adjust the acceleration; if R i If it is greater than the distance control accuracy parameter, let i=i+1 and continue to solve the acceleration of the nozzle adjustment based on the Newmark-β method.

[0128] The Newmark-β method is used to solve the acceleration of the nozzle adjustment. The characteristic of this method is that it does not directly use the servo motor for displacement compensation. The advantage of this method is that it guarantees to the greatest extent that the acceleration between two adjacent moments will not change suddenly, increases the stability of the calculation, and is easy to implement. A direct-drive linear servo motor can meet the requirements.

[0129] Based on the above embodiment, as an optional embodiment, the embodiment of the present invention selects the first servo motor installed at both ends of the free frame to control the longitudinal acceleration of the relative position of the nozzle and the rail during the grinding process, and the second servo motor installed on the nozzle is used to control the lateral acceleration of the relative position of the nozzle and the rail during the grinding process. The central processing module determines the lateral and longitudinal control parameters of the nozzle. After sending the instruction, the first servo motor and the second servo motor complete the movement of the nozzle within the corresponding time, realize the rapid adjustment of the relative position of the nozzle and the rail, and ensure the quality of rail grinding.

[0130] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for accurately controlling the grinding distance of a high-pressure water jet rail, characterized in that: include: Before starting the operation, select the grinding distance control accuracy parameters; Obtaining the working condition parameters of the rail to be polished, and determining the initial target distance and the ideal nozzle position according to the working condition parameters of the rail to be polished; Obtain rail surface vibration data, real-time rail surface profile data, and rail grinding vehicle motion data; Determine the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the rail surface vibration data, the real-time profile data of the rail surface, the motion data of the rail grinding vehicle and the distance control accuracy parameters; controlling the movement of the nozzle according to lateral and longitudinal control parameters; The dynamic response characteristics of the nozzle and the function of the ideal nozzle position deviation are established, and the acceleration of the nozzle adjustment is solved based on the Newmark-β method; The function of establishing the dynamic response characteristics of the nozzle and the ideal nozzle position offset is used to solve the nozzle adjustment acceleration based on the Newmark-β method, including: in, is the displacement deviation of the rail caused by vibration, is the change in nozzle target distance, for a period of time The position deviation of the internal nozzle caused by the movement of the vehicle, , They are the components of the acceleration in the horizontal and vertical directions of the current position calculated based on the Newmark-β method after the i-1th adjustment, , is the displacement of the ith adjustment; The deviation between the nozzle position and the ideal nozzle position after adjusting the nozzle according to the current acceleration; It is the cycle of each acceleration adjustment; like If the distance control accuracy parameter is not greater than the distance control accuracy parameter, the acceleration a obtained at this time is xn and a yn (n=1,2,…,i), as the lateral and longitudinal control parameters for the nozzle to adjust the acceleration.

2. The method for accurately controlling the grinding distance of a high-pressure water jet rail according to claim 1, characterized in that: The method of determining the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the rail surface vibration data, the rail surface real-time profile data, the motion data of the rail grinding vehicle and the distance control accuracy parameter includes: According to the rail surface vibration data, determine the displacement deviation of the rail caused by vibration; Determine the change in nozzle target distance based on the real-time profile data of the rail surface; Determine the position deviation of the nozzle according to the motion data of the rail grinding vehicle; The lateral and longitudinal control parameters of the nozzle adjustment acceleration are determined according to the displacement deviation, the nozzle target distance change, the position deviation and the distance control accuracy parameter.

3. The method for accurately controlling the grinding distance of a high-pressure water jet rail according to claim 2, characterized in that: The method of determining the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the displacement deviation, the nozzle target distance change, the position deviation and the distance control accuracy parameter includes: Determine the deviation of the nozzle in the horizontal and vertical directions according to the displacement deviation, the change in the nozzle target distance and the position deviation. If the sum of the squares of the deviation of the nozzle in the horizontal and vertical directions is greater than the distance control accuracy parameter; The dynamic response characteristics of the nozzle and the function of the ideal nozzle position deviation are established, and the acceleration of the nozzle adjustment is solved based on the Newmark-β method.

4. The method for accurately controlling the grinding distance of a high-pressure water jet rail according to claim 3, characterized in that: The function of establishing the dynamic response characteristics of the nozzle and the ideal nozzle position offset, and solving the acceleration of the nozzle adjustment based on the Newmark-β method, also includes: like If it is greater than the distance control accuracy parameter, let i=i+1 and continue to solve the acceleration of the nozzle adjustment based on the Newmark-β method.

5. A high-pressure water jet rail grinding distance precision control system, characterized in that: include: The precision control module is used to select the distance control precision parameters of grinding; An initialization setting module is used to obtain the working condition parameters of the rail to be polished, and determine the initial target distance and nozzle position according to the working condition parameters of the rail to be polished; Data acquisition module, used to obtain rail surface vibration data, rail surface real-time profile data and rail grinding vehicle motion data; The central processing module is used to calculate the displacement deviation of the rail caused by vibration according to the vibration data of the rail surface; determine the change of the nozzle target distance according to the real-time profile data of the rail surface; calculate the position deviation of the nozzle according to the motion data of the rail grinding vehicle; determine the lateral and longitudinal control parameters of the nozzle adjustment acceleration according to the displacement deviation, the change of the nozzle target distance, the position deviation and the distance control accuracy parameter; the central processing module includes: a nozzle acceleration determination module, which is used to establish the dynamic response characteristics of the nozzle and the function of the ideal nozzle position offset according to the displacement deviation, the change of the nozzle target distance, the position deviation and the distance control accuracy parameter, and solve the acceleration of the nozzle adjustment based on the Newmark-β method: Establish the function of the dynamic response characteristics of the nozzle and the position offset of the nozzle: in, is the displacement deviation of the rail caused by vibration, is the change in nozzle target distance, for a period of time The position deviation of the internal nozzle caused by the movement of the vehicle, , They are the components of the acceleration in the horizontal and vertical directions of the current position calculated based on the Newmark-β method after the i-1th adjustment, , is the displacement of the ith adjustment; The deviation between the nozzle position and the ideal nozzle position after adjusting the nozzle according to the current acceleration; It is the cycle of each acceleration adjustment; like If the distance control accuracy parameter is not greater than the distance control accuracy parameter, the acceleration a obtained at this time is xn and a yn (n=1,2,…,i), as the lateral and longitudinal control parameters for adjusting the acceleration of the nozzle; like If it is greater than the distance control accuracy parameter, let i=i+1 and continue to solve the acceleration of nozzle adjustment based on the Newmark-β method; The nozzle control module is used to control the movement of the nozzle according to the lateral and longitudinal control parameters.

6. The high-pressure water jet rail grinding distance precision control system according to claim 5, characterized in that: The data acquisition module includes: a distance sensor, which is arranged at the bottom of the front end of the rail grinding vehicle and is used to collect rail surface vibration data; a speed sensor, which is used for the speed of the rail grinding vehicle; and an acceleration sensor, which is used for the acceleration of the rail grinding vehicle. The speed sensor and the acceleration sensor are both arranged on the body of the rail grinding vehicle.

7. The high-pressure water jet rail grinding distance precision control system according to claim 5, characterized in that: The data acquisition module also includes: a second image acquisition unit, which is arranged beside the nozzle at the bottom of the rail grinding vehicle and is used to collect real-time contour data of the rail surface at the grinding position of the nozzle.

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