Pantograph control method

Abstract

The present invention discloses a pantograph control method, which belongs to the field of electric locomotive equipment, ensures the power receiving quality of the pantograph, and improves the stability of the current. The pantograph control method of the present invention comprises a slide plate, an electric push rod and a controller, the number of the electric push rods is two, and the electric push rod comprises a push rod assembly and a motor assembly. The control method comprises: S10, recording the initial position difference between the two push rod assemblies, and then driving the two push rod assemblies to move synchronously; S20, calculating the position difference variable ΔpE of the two push rod assemblies, and judging whether the position difference variable ΔpE reaches the set threshold value pE, if so, executing step S30, otherwise continuously executing step S20; S30, calculating the speed variable ΔpT according to the position difference variable ΔpE, calculating the target speed pT of at least one of the push rod assemblies according to the speed variable ΔpT, and executing step S40; S40, adjusting the speed of the push rod assembly to the target speed pT; S20-S40 are executed in a loop until the slide plate contacts the contact network.

Description

Technical field

[0001] The present invention relates to the field of electric locomotive equipment, and in particular to a pantograph control method. [Background Technology]

[0002] Pantographs, installed on urban rail subway vehicles and low-floor vehicles, are electrical devices used to collect current from the contact network for vehicle use. The quality of the pantograph's power collection is related to the contact pressure, transition resistance, and contact area between the pantograph's slide and the contact network. Therefore, to ensure the smooth flow of traction current, a certain pressure must be maintained between the pantograph and the contact network. Currently, commonly used pantographs often use a single-arm hydraulic or oil-pressure lever for lifting and lowering control. However, due to structural limitations, the extension stroke of the hydraulic or oil-pressure lever is difficult to control. This results in unstable pressure between the pantograph and the contact network after extension, thus affecting the quality and stability of power collection. [Summary of the invention]

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and propose a pantograph control method, thereby ensuring the power receiving quality of the pantograph and improving the stability of the current.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A method for controlling a pantograph, wherein the pantograph includes a slide that contacts a contact network to draw power, an electric push rod that drives the slide to rise and fall, and a controller electrically connected to the electric push rod. The number of the electric push rods is two, and the electric push rods include a push rod assembly connected to the slide and a motor assembly that drives the push rod assembly to move the slide to rise and fall. The two push rod assemblies move synchronously to simultaneously drive the slide. The control method is used to control the upward movement of the slide, and includes:

[0006] S10, recording the initial position difference of the two push rod assemblies, and then driving the two push rod assemblies to move synchronously;

[0007] S20, calculating the position difference variable ΔpE of the two push rod assemblies, and determining whether the position difference variable ΔpE reaches a set threshold value pE, if so, executing step S30, otherwise continuing to execute step S20;

[0008] S30, calculating a speed variable ΔpT according to the position difference variable ΔpE, calculating a target speed pT of at least one of the push rod assemblies according to the speed variable ΔpT, and executing step S40;

[0009] S40, adjusting the speed of the push rod assembly to the target speed pT;

[0010] S20-S40 is executed in a loop until the slide plate contacts the contact network;

[0011] Among them, the position of the push rod assembly is the height of the push rod assembly connected to one end of the slide, ΔpT = synchronous control proportional coefficient × ΔpE, pT = current speed + / - (ΔpT / A), and A is the number of push rod assemblies that need to adjust the speed.

[0012] Based on the above scheme, the position difference variable ΔpE = |current position difference - initial position difference|, the two push rod assemblies are the first push rod assembly and the second push rod assembly, the initial position difference = the initial height of the first push rod assembly - the initial height of the second push rod assembly, and the current position difference = the current height of the first push rod assembly - the current height of the second push rod assembly.

[0013] On the basis of the above scheme, in step S30, if the current position difference is smaller than the initial position difference, the target speed pT of the first push rod assembly is equal to the current speed + (ΔpT / A), and the target speed pT of the second push rod assembly is equal to the current speed - (ΔpT / A); if the current position difference is greater than the initial position difference, the target speed pT of the first push rod assembly is equal to the current speed - (ΔpT / A), and the target speed pT of the second push rod assembly is equal to the current speed + (ΔpT / A).

[0014] Based on the above solution, step S40 further includes: calculating the position difference variable ΔpE of the two push rod assemblies while adjusting the speed of the push rod assembly; if the position difference variable ΔpE is less than the set threshold pE, returning to step S20.

[0015] Based on the above scheme, the electric push rod also includes a screw assembly and a reducer. The screw assembly is used to convert the power of the motor assembly into the telescopic movement of the push rod assembly. The reducer is used to adjust the transmission ratio between the screw assembly and the screw assembly. The synchronous control proportional coefficient = (screw lead (mm) / reducer reduction ratio) × 100.

[0016] Based on the above solution, the electric push rod also includes a speed feedback device connected to the motor assembly, and the controller includes a counter. The controller calculates the current extension distance of the two push rod assemblies through the counter according to the signal of the speed feedback device.

[0017] Based on the above scheme, the controller also includes a speed control module, a drive control module and a synchronization control module. The speed control module sets a constant acceleration for the push rod assembly according to the target rising speed of the push rod assembly. The drive control module drives the push rod assembly according to the signal of the speed control module. The synchronization control module calculates the position difference variable ΔpE and the speed variable ΔpT according to the position information of the push rod assembly, and inputs the speed variable ΔpT to the speed control module.

[0018] Based on the above scheme, the push rod assemblies of the two electric push rods are hinged to the skateboard, and one of the push rod assemblies slides with the skateboard. The two push rod assemblies are controlled to rise to different distances to tilt the skateboard relative to the contact network, so as to change the contact position of the skateboard and the contact network.

[0019] On the basis of the above scheme, the control method further includes:

[0020] M10, input the inclination angle of the slide relative to the contact network. If the angle is greater than 0°, execute step M20. If the angle is equal to 0°, control the two push rod assemblies to operate simultaneously and execute step S10;

[0021] M20, according to the tilt angle of the slide, controls one of the push rod assemblies to operate so that the slide is tilted to a specified angle, and then executes step S10;

[0022] Wherein, step M10 is performed before step S10.

[0023] On the basis of the above solution, the pantograph further includes a manual button for controlling the raising and lowering of a push rod assembly respectively, and the push rod assembly is debugged by the manual button to determine the raising and lowering height of the slide.

[0024] Beneficial effects of the present invention:

[0025] The present invention discloses a method for controlling a pantograph. The pantograph controls the raising and lowering of a slide plate through an electric push rod, thereby contacting the contact network to draw power. The push rod assembly of the electric push rod can perform telescopic movement to control the raising and lowering movement of the slide plate. The telescopic distance of the push rod assembly is relatively easy to control, and the control is more flexible and the response speed is faster. The raising and lowering distance of the slide plate can be controlled more accurately, so that the contact pressure between the slide plate and the contact network is maintained stable. The pantograph is provided with two electric push rods, and the two electric push rods simultaneously drive the slide plate to rise and fall. Both sides of the slide plate are supported at the same time, which can balance and stabilize the contact pressure between the slide plate and the contact network. During vehicle driving, the position of the slide plate is not easily changed, and it can maintain a stable contact state with the contact network. The current is stable, and the power receiving quality of the pantograph is guaranteed.

[0026] Due to manufacturing errors and assembly errors during assembly of the two electric push rods, even if the program controls the operation of the two push rods with the same signal, it is difficult to ensure that the push rod assemblies of the two push rods extend the same distance and achieve synchronous movement. The control method is used to control the upward movement of the push rod assemblies of the two electric push rods so that the two push rod assemblies can maintain synchronous movement to accurately control the rising height of the slide, thereby ensuring appropriate contact pressure between the slide and the contact network. The height of the push rod assembly at the end connected to the slide is related to its own extension distance. By monitoring the extension distance of the two push rod assemblies, the position of the two push rod assemblies during movement can be obtained, and the position difference between the two push rod assemblies can be calculated. This is compared with the position difference of the two push rod assemblies' initial positions to obtain the position difference variable ΔpE. When the two push rod assemblies move, there will be an instantaneous position difference variable. The value of the instantaneous difference variable is small. By setting the threshold pE, the influence of the instantaneous difference variable on the detection can be filtered to avoid frequent triggering of steps S30 and S40. Step S30 will only be executed when the value of the position difference variable ΔpE exceeds the set threshold pE.

[0027] In step S30, a speed variable ΔpT can be calculated based on the position difference variable ΔpE. The speed variable ΔpT is the total speed variable of the two push rod assemblies, that is, the total value of the speed change of the two push rod assemblies is ΔpT. When adjusting the speed, only the speed of one push rod assembly can be adjusted. According to the formula, when only the speed of one push rod assembly is adjusted, the speed change value is the speed variable ΔpT, and the target speed pT of the push rod assembly needs to be increased or decreased by ΔpT. In step S40, the rising speed of one push rod assembly is adjusted, while the rising speed of the other push rod assembly remains unchanged. Therefore, only the rising speed of one push rod assembly needs to be adjusted, ensuring position accuracy and reducing the difficulty of eliminating position differences.

[0028] If the speeds of both push rod assemblies are adjusted simultaneously, the adjusted speed of each push rod assembly is ΔpT / 2, and the total speed change is ΔpT. The target speed pT of one push rod assembly needs to be increased or decreased by ΔpT / 2. In step S40, the ascending speed of one push rod assembly is increased while the ascending speed of the other push rod assembly is decreased, thereby shortening the time required to eliminate the position difference.

[0029] Furthermore, step S40 further includes: calculating a position difference variable ΔpE between the two push rod assemblies while adjusting the speed of the push rod assemblies. If the position difference variable ΔpE is less than a set threshold value pE, the process returns to step S20. In step S40, while adjusting the speeds of the two push rod assemblies, the position difference between the two is also detected. When the position difference variable ΔpE is less than the set threshold value pE, it means that the two push rod assemblies are in a state of synchronous movement. Therefore, the speed adjustment can be stopped and the process returns to step S20, where the movement of the two push rod assemblies is continuously monitored until the position difference is once again greater than the set threshold value pE, at which point step S30 is executed or the process stops when the sliding plate contacts the contact network.

[0030] Furthermore, the controller also includes a speed control module, a drive control module and a synchronization control module. The speed control module sets a constant acceleration for the push rod assembly according to the target rising speed of the push rod assembly. The drive control module drives the push rod assembly according to the signal of the speed control module. The synchronization control module calculates the position difference variable ΔpE and the speed variable ΔpT according to the position information of the push rod assembly, and inputs the speed variable ΔpT into the speed control module. The speed control module can set a constant acceleration for the push rod assembly, so that the push rod assembly moves with a constant acceleration and gradually accelerates to the set target rising speed, so as to reduce the initial oscillation generated by the drive control module, avoid excessive deviation of the position of the push rod assembly stroke, and thus reduce the occurrence of the situation where the position stroke of the two push rod assemblies is not synchronized. The drive control module is used to control and adjust the rising speed of the push rod assembly, and the synchronization control module is used to calculate the speed increment required to adjust the synchronous movement of the two push rod assemblies. The speed control module, the drive control module and the synchronization control module have signal interaction with each other. In the initial stage of the skateboard rising, the drive control module, under the control of the speed control module, drives the push rod assembly to control the skateboard to rise with uniform acceleration until the speed reaches the set target speed and then controls the skateboard to rise at a uniform speed. After detecting the position difference between the two push rod assemblies, the synchronization control module starts to calculate and transmits the signal to the speed control module, and adjusts the speed of the push rod assembly through the drive control module.

[0031] Furthermore, the push rod assemblies of the two electric push rods are hinged to the slide, and one of the push rod assemblies is in sliding cooperation with the slide, controlling the two push rod assemblies to rise to different distances so that the slide tilts relative to the contact network, thereby changing the position where the slide contacts the contact network. When the two push rod assemblies rise to different distances, the slide can be tilted relative to the contact network. During the tilting process, the slide can slide relative to one of the push rod assemblies, and the position where the slide contacts the contact network after rising can be adjusted, thereby preventing the same part of the slide from being worn due to long-term friction with the contact network, resulting in insufficient contact pressure between the slide and the contact network, which affects the power quality and current stability. The slide only has an angle change with the other push rod assembly to ensure that the position where the slide contacts the contact network can change when it tilts. If the slide slides with both push rod assemblies, it may slide relative to both push rod assemblies at the same time when the slide tilts, so that the position where the slide contacts the contact network remains unchanged.

[0032] Furthermore, the control method further includes: M10, inputting the inclination angle of the slide relative to the contact network; if the angle is greater than 0°, executing step M20; if the angle is equal to 0°, executing step S10; M20, controlling one of the push rod assemblies to operate so that the slide is tilted to a specified angle according to the inclination angle of the slide, and then executing step S10; wherein, step M10 is executed before step S10. Before executing step S10, step M10 is first executed to determine whether the angle of the slide needs to be adjusted. When the input angle is 0°, it means that the slide does not need to be tilted, and step S10 can be directly executed to control the slide to rise; when the input angle is greater than 0°, it means that the slide needs to be tilted, and step M20 is executed to first control a push rod assembly to rise, so that the slide adjusts its tilt angle before rising. In this way, there is no need to adjust the tilt angle during the rising process, reducing the control difficulty. After executing step M20, the two push rod assemblies have different positions, but in step S10, the difference variable is calculated based on the respective extension distances of the two push rod assemblies. Therefore, regardless of whether the positions of the two push rod assemblies are the same before step S10, as long as the difference variables of the two push rod assemblies are within the threshold range, the two push rod assemblies are considered to be in a synchronous rising state.

[0033] Furthermore, the pantograph includes manual buttons for controlling the raising and lowering of each push rod assembly. These buttons are used to adjust the push rod assembly to determine the height of the slide. While the system can automatically control the slide's raising and lowering, the slide's raising and lowering height is related to the contact pressure between the slide and the catenary. The manual buttons allow the push rod assembly's height to be manually adjusted to test the contact pressure between the slide and the catenary at different heights. The height at which the slide and the catenary generate the appropriate contact pressure is recorded and used as a preset value.

[0034] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings.

Brief Description of the Drawings

[0035] The present invention will be further described below with reference to the accompanying drawings:

[0036] Figure 1 Schematic diagram of the structure of a pantograph in an embodiment of the present invention;

[0037] Figure 2 is a speed variation curve of the push rod assembly in an embodiment of the present invention;

[0038] Figure 3 The speed change curve of the push rod in the prior art is shown in FIG.

[0039] Figure 4 This is a control logic diagram of a controller in an embodiment of the present invention;

[0040] Figure 5 Schematic diagram of the cooperation between the slide plate and the connecting member in an embodiment of the present invention;

[0041] Figure 6 This is a schematic structural diagram of another pantograph in an embodiment of the present invention;

[0042] Figure 7 This is a schematic structural diagram of another pantograph in an embodiment of the present invention;

[0043] Figure 8 This is a schematic structural diagram of another pantograph in an embodiment of the present invention;

[0044] Figure 9 is a logic diagram of a control method in an embodiment of the present invention;

[0045] Figure 10 The relative positional relationship between the slide plate and the contact network when the angle between the slide plate and the contact network is 0° in the embodiment of the present invention;

[0046] Figure 11 This is the relative positional relationship between the slide and the contact network when the angle between the slide and the contact network is 30° in the embodiment of the present invention.

[0047] Reference numerals:

[0048] Slide plate 100, slide chute 110;

[0049] Controller 200;

[0050] Push rod assembly 300, motor assembly 310, connector 320, rod body 321, spherical member 322, outer tube 330, inner tube 340, slider 350, push rod 351, first connecting rod 360, second connecting rod 361, transmission rod 370;

[0051] Bottom plate 400 and guide plate 410 . [Specific implementation method]

[0052] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. However, the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0053] When used herein, words such as "exemplary" and "some embodiments" mean "serving as an example, embodiment, or illustration." Any embodiment described as "exemplary" is not necessarily to be construed as superior or preferable to other embodiments. Numerous specific details are provided in the following detailed description to better illustrate the present invention. However, those skilled in the art will appreciate that the present disclosure may be practiced without these specific details.

[0054] Reference Figures 1 to 4 、 Figure 9 An embodiment of the present invention discloses a pantograph control method, wherein the pantograph includes a slide 100 that contacts the contact network to draw power, an electric push rod that drives the slide 100 to rise and fall, and a controller 200 electrically connected to the electric push rod. There are two electric push rods, each of which includes a push rod assembly 300 connected to the slide 100 and a motor assembly 310 that drives the push rod assembly 300 to move to drive the slide 100 to rise and fall. The two push rod assemblies 300 move synchronously to drive the slide 100 at the same time.

[0055] The pantograph uses an electric push rod to control the movement of the slide 100, which makes contact with the contact network to draw power. The push rod assembly 300 of the electric push rod can perform telescopic movement to control the movement of the slide 100. The telescopic distance of the push rod assembly 300 is relatively easy to control, with more flexible control and faster response speed. It can more accurately control the movement of the slide 100, so that the contact pressure between the slide 100 and the contact network is maintained. The pantograph is equipped with two electric push rods, which drive the slide 100 up and down simultaneously. The slide 100 is supported on both sides, which can balance and stabilize the contact pressure between the slide 100 and the contact network. During vehicle operation, the position of the slide 100 is not easily changed, and it can maintain a stable contact state with the contact network, which stabilizes the current and also ensures the quality of the power received by the pantograph.

[0056] The control method is used to control the upward motion of the skateboard, including:

[0057] S10, recording the initial position difference between the two push rod assemblies 300, and then driving the two push rod assemblies 300 to move synchronously;

[0058] S20, calculating the position difference variable ΔpE of the two push rod assemblies 300, and determining whether the position difference variable ΔpE reaches a set threshold value pE, if so, executing step S30, otherwise continuing to execute step S20;

[0059] S30, calculating a speed variable ΔpT according to the position difference variable ΔpE, calculating a target speed pT of at least one of the push rod assemblies according to the speed variable ΔpT, and executing step S40;

[0060] S40, adjusting the speed of the push rod assembly to the target speed pT;

[0061] The S20-S40 cycle is executed until the slide plate contacts the contact network.

[0062] It should be noted that: in this application, the position of the push rod assembly 300 refers to the height at which the end of the push rod assembly 300 is connected to the skateboard 100, ΔpT = synchronous control proportional coefficient × ΔpE, pT = current speed + / - (ΔpT / A), A is the number of push rod assemblies whose speed needs to be adjusted, and the position difference variable ΔpE is the change in the position difference between the two push rod assemblies 300 when step S10 starts to execute.

[0063] The electric push rod also includes a screw assembly and a speed reducer. The power of the motor assembly 310 is converted through the screw assembly into the telescopic motion of the push rod assembly 300. The speed reducer is used to adjust the transmission ratio between the screw assembly and the speed reducer to prevent the push rod assembly 300 from extending and retracting too quickly, which would be detrimental to accurately controlling its telescopic distance. The aforementioned synchronous control proportional coefficient is a constant that is related to the performance of the screw assembly and speed reducer. The synchronous control proportional coefficient = (screw lead (mm) / speed reducer reduction ratio) × 100.

[0064] Due to part processing errors during the manufacture of the two electric push rods and assembly errors during assembly, even if the program controls the operation of the two electric push rods with the same signal, it is difficult to ensure that the push rod assemblies 300 of the two electric push rods extend to the same distance and achieve synchronous movement. The control method is used to control the upward movement of the push rod assemblies 300 of the two electric push rods so that the two push rod assemblies 300 can maintain synchronous movement to accurately control the rising height of the slide 100, thereby ensuring that there is appropriate contact pressure between the slide 100 and the contact network. The height of the push rod assembly 300 at the end connected to the slide 100 is related to its own extension distance. By monitoring the extension distance of the two push rod assemblies 300, the positions of the two push rod assemblies 300 during the movement process can be obtained, and the position difference of the two push rod assemblies 300 can be calculated and compared with the position difference of the initial positions of the two push rod assemblies 300, so as to obtain the position difference variable ΔpE. When the two push rod assemblies 300 move, there will be an instantaneous difference variable, and the value of the instantaneous difference variable is small. By setting the threshold pE, the influence of the instantaneous difference variable on the detection can be filtered to avoid frequent triggering of steps S30 and S40. Step S30 will only be executed when the value of the position difference variable ΔpE exceeds the set threshold pE.

[0065] In step S30 , a speed variable ΔpT may be calculated based on the position difference variable ΔpE. The speed variable ΔpT is the total speed variable of the two push rod assemblies 300 , that is, the total value of the speed changes of the two push rod assemblies 300 is ΔpT.

[0066] When adjusting the speed, only the speed of one push rod assembly 300 can be adjusted. According to the formula, when adjusting the speed of only one push rod assembly 300, the speed change is the speed variable ΔpT, and the target speed ΔpT of the push rod assembly 300 needs to be increased or decreased by ΔpT. In step S40, the rising speed of one push rod assembly 300 is adjusted, while the rising speed of the other push rod assembly 300 remains unchanged. Therefore, only the rising speed of one push rod assembly 300 needs to be adjusted, ensuring position accuracy and reducing the difficulty of eliminating position differences.

[0067] If the speeds of both push rod assemblies are adjusted simultaneously, the formula shows that the adjusted speed of each push rod assembly is ΔpT / 2, and the total speed change is ΔpT. Therefore, the target speed pT of one push rod assembly needs to be increased or decreased by ΔpT / 2. Therefore, in step S40, the ascending speed of one push rod assembly is increased while the ascending speed of the other push rod assembly is decreased, thereby shortening the time required to eliminate the position difference.

[0068] When adjusting the speeds of two push rod assemblies at the same time, the speed change of a single push rod assembly ΔpT / 2 is the preferred option. In fact, only the total speed change of the two push rod assemblies needs to be ΔpT, that is, it can also be: the speed change of one push rod assembly is 0.2ΔpT, and the speed change of the other push rod assembly is 0.8ΔpT; the speed change of one push rod assembly is 0.4ΔpT, and the speed change of the other push rod assembly is 0.6ΔpT.

[0069] After determining the speed change of the push rod assembly 300, in step S40, according to the calculation results, the controller 200 adjusts the rising speed of the two push rod assemblies 300 to eliminate the position difference between the two during the rising process, so as to achieve synchronous rising of the two push rod assemblies 300 to maintain smooth movement of the skateboard 100.

[0070] Among them, the position difference variable ΔpE = |current position difference - initial position difference|, the position difference variable ΔpE, the two push rod assemblies 300 are the first push rod assembly and the second push rod assembly, the initial position difference = the initial height of the first push rod assembly - the initial height of the second push rod assembly, the current position difference = the current height of the first push rod assembly - the current height of the second push rod assembly, and the position difference variable ΔpE is an absolute value.

[0071] In step S30, if the current position difference is less than the initial position difference, it means that during the ascending process of the two push rod assemblies 300, the ascending speed of the first push rod assembly is too slow or the ascending speed of the second push rod assembly is too fast. Therefore, in step S40, it is necessary to increase the ascending speed of the first push rod assembly or decrease the ascending speed of the second push rod assembly or increase the ascending speed of the first push rod assembly and decrease the ascending speed of the second push rod assembly. The target speed pT of the first push rod assembly is = current speed + (ΔpT / A), and the target speed pT of the second push rod assembly is = current speed - (ΔpT / A).

[0072] On the contrary, if the current position difference is smaller than the initial position difference, the target speed pT of the first push rod assembly = current speed - (ΔpT / A), and the target speed pT of the second push rod assembly = current speed + (ΔpT / A).

[0073] Based on the above embodiment, in one embodiment of the present invention, the actual positions of the two push rod assemblies are detected in steps S20 and S40. When it is detected that the position of one of the push rod assemblies has reached the set position (the set position is the position of the push rod assembly when the slide plate contacts the contact network), the control program is stopped. The push rod assembly that has reached the set position will stop operation, and the other push rod assembly will continue to operate until it reaches the set position. Although the slide plate can also contact the contact network if both push rod assemblies reach the set position one after another, the simultaneous operation of the two push rod assemblies driving the slide plate to the set position provides better reliability and ensures the quality of power reception.

[0074] Based on the above embodiment, in one embodiment of the present invention, the electric push rod further includes a velocity feedback device connected to the motor assembly, and the controller includes a counter. The controller calculates the current real-time positions of the two push rod assemblies using the counter based on signals from the velocity feedback device. The controller is capable of calculating the distance the push rod assembly has been extended, thereby calculating the height at which the push rod assembly is connected to the slide.

[0075] Reference Figure 4 The controller 200 further includes a speed control module, a drive control module, and a synchronization control module. The speed control module is used to set the operating speed of the push rod assembly 300. The drive control module drives the push rod assembly 300 based on the signal from the speed control module and the actual rising speed of the push rod assembly 300. The synchronization control module calculates the position difference variable ΔpE and the speed variable ΔpT based on the position information of the push rod assembly 300 detected by the controller 200, and inputs the speed variable ΔpT to the speed control module.

[0076] The speed control module sets a constant acceleration for the push rod assembly 300 according to the target rising speed of the push rod assembly 300, that is, the speed control module can make the push rod assembly 300 move at a constant acceleration and gradually accelerate to the set target rising speed to reduce the initial oscillation generated by the drive control module ( Figure 2 (The wavy line in the middle) prevents the push rod assembly 300 from having too large a deviation in its stroke position, thereby reducing the occurrence of a situation where the two push rod assemblies 300 are out of sync. (The existing speed control curve can be referenced Figure 3 ,contrast Figure 2 and Figure 3 The amplitude of the wavy lines in the figure shows that the initial oscillation generated by the speed control module is smaller. The drive control module is used to control and adjust the rising speed of the push rod assembly 300. There is signal interaction between the synchronization control module and the speed feedback device and the counter, which is used to calculate the speed increment required to achieve the synchronous movement of the two push rod assemblies 300.

[0077] The speed control module, the drive control module and the synchronization control module have signal interaction with each other. In the initial stage of the rise of the skateboard 100, the drive control module, under the control of the speed control module, drives the push rod assembly 300 to control the skateboard 100 to rise with a uniform acceleration until the speed reaches the set target speed and then controls the skateboard 100 to rise at a uniform speed. After detecting the position difference between the two push rod assemblies 300, the synchronization control module starts to calculate and transmits the signal to the speed control module, and adjusts the speed of the push rod assembly 300 through the drive control module.

[0078] The speed and position control of the push rod assembly 300 are both closed-loop control, which allows the skateboard 100 to rise or fall at a uniform speed and stop accurately at the target position, so that the pressure between the skateboard 100 and the contact line is uniform, the contact is good, and the power quality is better.

[0079] Reference Figure 1 、 Figure 4 and Figure 9 Based on the above embodiment, in one embodiment of the present invention, step S40 further includes: adjusting the speeds of the two push rod assemblies 300 while calculating the position difference variable ΔpE between the two. If the position difference variable ΔpE is less than the set threshold value pE, return to step S20.

[0080] In step S40, while adjusting the speeds of the two push rod assemblies 300, the position difference variable ΔpE between them is also detected. When the position difference variable ΔpE is less than the set threshold value pE, it means that the two push rod assemblies 300 are in a state of synchronous movement. Therefore, the speed adjustment is stopped and the process returns to step S20. The movement of the two push rod assemblies 300 is continuously monitored until the position difference value exceeds the set threshold value pE again, and then step S30 is executed or the process stops when the slide 100 contacts the contact network. Otherwise, the process waits until the speed of the push rod assembly 300 is adjusted to pT, and then returns to step S20 to determine whether the position difference variable ΔpE is within the set threshold value pE.

[0081] Reference Figure 1 、 Figure 4 and Figure 9 Based on the above embodiments, in one embodiment of the present invention, in step S40, the drive control module can adjust the rising speed of the push rod assembly 300 to achieve synchronous movement of the two push rod assemblies 300, and the speed difference required to increase or decrease the push rod assembly 300 is adjusted by the drive control module. In order to avoid excessive oscillation of the drive control module, the speed control module can set a constant acceleration for the push rod assembly 300 according to the speed difference required to adjust the push rod assembly 300, so that the push rod assembly 300 rises at a constant acceleration until the rising speed of the push rod assembly 300 reaches the final target speed.

[0082] On the vehicle equipment, the slide plate 100 needs to keep in contact with the contact network to obtain current. During the operation of the vehicle equipment, there is relative sliding between the slide plate 100 and the contact network. During the long-term operation of the vehicle equipment, the slide plate 100 will be worn. In order to reduce the wear of the slide plate 100 and extend the service life of the slide plate 100, refer to Figure 1 and Figure 5 Based on the above embodiments, in one embodiment of the present invention, the two push rod assemblies 300 are hinged to the skateboard 100, and the skateboard 100 slides with the push rod assembly 300 of one of the electric push rods. The two push rod assemblies 300 are controlled to rise to different distances to tilt the skateboard 100 relative to the contact network, so as to change the contact position of the skateboard 100 with the contact network.

[0083] The motor assembly 310 of the two electric push rods can drive the push rod assembly 300 to extend and retract different distances, thereby controlling the two parts of the skateboard 100 connected to the push rod assembly 300 to have different height positions, so that the skateboard 100 is tilted relative to the contact network. After the skateboard 100 is tilted, it slides relative to one electric push rod 300 to change the part in contact with the contact network, thereby avoiding the same part of the skateboard 100 from being worn due to long-term friction with the contact network, resulting in insufficient contact pressure between the skateboard 100 and the contact network, affecting the power quality and current stability.

[0084] like Figure 10 and Figure 11 As shown, in Figure 10 and Figure 11 In the figure, the hollow circle is the contact network. Figure 10 The solid circle in the figure is the contact part between the slide 100 and the contact network. Figure 11 The solid circle in is the contact part between the slide 100 and the contact network when the inclination angle of the slide 100 relative to the contact network is 0°. Figure 10 As shown, when the telescopic distances of the two push rod assemblies 300 are the same, the portion marked with a solid circle on the slide 100 contacts the contact network to draw power. At this time, the distance between the portion marked with a solid circle and the two push rod assemblies 300 is the same. As the slide 100 tilts, the slide 100 can slide relative to the push rod assembly 300 of one of the electric push rods, and the portion marked with a solid circle on the slide 100 will be closer to the other push rod assembly 200. When the inclination angle of the slide 100 reaches 30°, the relative position relationship between the slide 100 and the contact network can be referred to. Figure 11 , you can see Figure 11 The contact portion between the middle slide 100 and the contact network has deviated from the solid circle, so it can be seen that the contact portion between the slide 100 and the contact network has changed after the slide 100 is tilted.

[0085] The push rod assembly 300 includes a sleeve assembly and a connecting member 320. The sleeve assembly includes an outer tube 330 and an inner tube 340 that can be extended and retracted relative to the outer tube 330. The outer tube 330 is sleeved on the outside of the inner tube 340. The connecting member 320 of one electric push rod is slidably matched with the skateboard 100, and the connecting member 320 of the other electric push rod is rotationally matched with the skateboard 100.

[0086] The connecting member 320 includes a rod 321 and a spherical member 322 disposed at the end of the rod 321 and rotatably engaged with the skateboard 100. A slot 110 is provided on the bottom of the skateboard 100, corresponding to one of the connecting members 320. The spherical member 322 slidably engages with the slot 110, allowing the spherical member 322 to rotate and slide relative to the slot 110 to accommodate changes in the position of the skateboard 100. The diameter of the spherical member 322 is larger than the radial dimension of the rod 321. The slot 110 has an arc-shaped cross-section. The lower end of the slot 110 is open, and the size of the opening is smaller than the diameter of the spherical member 322. The rod 321 extends into the slot 110, allowing the spherical member 322 to be accommodated within the slot 110. The size of the opening at the lower end of the slot 110 is smaller than the size of the spherical member 322, thereby retaining the spherical member 322 within the slot 110 and preventing separation between the skateboard 100 and the spherical member 322.

[0087] Reference Figure 1 Based on the above embodiments, in one embodiment of the present invention, the pantograph further includes a base plate 400, two electric push rods are hinged to the base plate 400, the push rod assembly 300 further includes a slider 350 and a top rod 351, a guide plate 410 arranged in a vertical direction is provided on the base plate 400, the slider 350 slides in cooperation with the guide plate 410, the inner tube 340 is hinged to the slider 350, the top rod 351 is installed on the slider 350 and is connected to the slide plate 100, and the connecting member 320 is arranged on the top rod 351.

[0088] When the inner tube 340 is extended or retracted relative to the outer tube 330, the electric push rod can flip relative to the base plate 400. Driven by the inner tube 340, the slider 350 slides relative to the guide plate 410 to adjust the position in the vertical direction, and at the same time adjusts the height position of the top rod 351 to adjust the inclination angle of the slide plate 100.

[0089] Of course, tilting the guide plate 410 can also change the vertical position of the slider 350 .

[0090] Reference Figure 6Unlike the above-mentioned embodiment, in one embodiment of the present invention, two electric push rods are hinged to the base plate 400, and the push rod assembly 300 further includes a first connecting rod 360 and a second connecting rod 361, one end of the first connecting rod 360 is hinged to the base plate 400, the other end of the first connecting rod 360 is hinged to the second connecting rod 361, one end of the second connecting rod 361 is hinged to the connecting piece 320 on the inner tube 340, the other end of the second connecting rod 361 is hinged to the slide 100, and the connecting piece 320 is arranged on the second connecting rod 361.

[0091] When inner tube 340 expands and contracts relative to outer tube 330, the electric push rod can flip relative to base plate 400. Driven by inner tube 340, second connecting rod 361 is pushed by inner tube 340 and flips relative to first connecting rod 360, thereby changing the vertical position of slide plate 100. Because connector 320 includes spherical member 322, slide plate 100 can flip relative to second connecting rod 361 so that its upper end surface is horizontal and in contact with the contact network.

[0092] When the telescopic distances of the two push rod assemblies 300 are different, the slide plate 100 can also rotate relative to the second connecting rod 361 , and the spherical member 322 on the connecting member 320 enables the slide plate 100 to rotate relative to the spherical member 322 .

[0093] Reference Figure 7 Unlike the above embodiment, in one embodiment of the present invention, two electric push rods are hingedly connected to the base plate 400. The push rod assembly 300 also includes a transmission rod 370, one end of which is hingedly connected to the base plate 400 and the other end of which is connected to the slide 100. The inner tube 340 is hingedly connected to the transmission rod 370. When the inner tube 340 is extended or retracted relative to the outer tube 330, the electric push rods can flip relative to the base plate 400. Driven by the inner tube 340, the transmission rod 370 flips relative to the base plate 400, thereby changing the vertical position of the slide 100.

[0094] Reference Figure 8 Different from the above-mentioned embodiment, in one embodiment of the present invention, two electric push rods are fixedly mounted on the base plate 400, the connecting member 320 is provided on the inner tube 340, and the push rod assembly 300 of the two electric push rods performs telescopic movement in the vertical direction to drive the skateboard 100 to perform lifting movement.

[0095] Reference Figure 1 、 Figure 4 and Figure 9 Based on the above embodiment, in one embodiment of the present invention, the control method further includes:

[0096] M10, input the inclination angle of the slide plate 100 relative to the contact network. If the angle is greater than 0°, execute step M20. If the angle is equal to 0°, control the two push rod assemblies 300 to operate simultaneously and execute step S10;

[0097] M20, according to the tilt angle of the slide 100, control one of the push rod assemblies 300 to operate so that the slide 100 tilts to a specified angle and then executes step S10.

[0098] Step M10 is performed before step S10.

[0099] Before executing step S10, step M10 is executed first to determine whether the angle of the skateboard 100 needs to be adjusted. When the input angle is 0°, it means that the skateboard 100 does not need to be tilted, and step S10 can be directly executed to control the skateboard 100 to rise; when the input angle is greater than 0°, it means that the skateboard 100 needs to be tilted, and step M20 is executed to first control a push rod assembly 300 to rise, so that the skateboard 100 can adjust the tilt angle before rising. In this way, there is no need to adjust the tilt angle during the rising process, reducing the control difficulty.

[0100] After executing step M20, the two push rod assemblies 300 have different positions, but in step S10, the difference variable is calculated based on the respective extension distances of the two push rod assemblies 300. Therefore, regardless of whether the positions of the two push rod assemblies 300 are the same before step S10, as long as the difference variable of the two push rod assemblies 300 is within the threshold range, the two push rod assemblies 300 are considered to be in a synchronous rising state.

[0101] When the input angle is 0°, the initial position difference between the two push rod assemblies 300 is 0; when the input angle is greater than 0°, if the first push rod assembly rises, the initial position difference is the rising height of the first push rod assembly; if the second push rod assembly rises, the initial position difference is the negative value of the rising height of the first push rod assembly.

[0102] Based on the above embodiment, in one embodiment of the present invention, the controller is further provided with a manual button capable of controlling the raising and lowering of each push rod assembly. The push rod assembly is adjusted by the manual button to determine the height at which the slide is raised. The system can automatically control the raising and lowering of the slide, but the height at which the slide is raised is related to the contact pressure value between the slide and the contact network. The manual button can be used to manually adjust the height of the push rod assembly to test the contact pressure between the slide and the contact network at different heights. The height at which the slide and the contact network generate the appropriate contact pressure is recorded and used as the preset value.

[0103] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art will understand that the present invention includes, but is not limited to, the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are intended to be included within the scope of the claims.

Claims

1. A method for controlling a pantograph, wherein the pantograph comprises a slide plate for contacting a contact network to draw power, an electric push rod for driving the slide plate up and down, and a controller electrically connected to the electric push rod, characterized in that: There are two electric push rods, each of which includes a push rod assembly connected to the slide and a motor assembly that drives the push rod assembly to move the slide up and down. The push rod assemblies of the two electric push rods move synchronously to simultaneously drive the slide. The push rod assemblies of the two electric push rods are hinged to the slide, and one of the push rod assemblies slides with the slide. The two push rod assemblies are controlled to rise by different distances to tilt the slide relative to the contact network, thereby changing the position at which the slide contacts the contact network. The control method for controlling the upward movement of the slide includes: S10, recording the initial position difference of the two push rod assemblies, and then driving the two push rod assemblies to move synchronously; S20, calculating the position difference variable ΔpE of the two push rod assemblies, and determining whether the position difference variable ΔpE reaches a set threshold value pE, if so, executing step S30, otherwise continuing to execute step S20; S30, calculating a speed variable ΔpT according to the position difference variable ΔpE, calculating a target speed pT of at least one of the push rod assemblies according to the speed variable ΔpT, and executing step S40; S40, adjusting the speed of the push rod assembly to the target speed pT; S20-S40 is executed in a loop until the slide plate contacts the contact network; The position of the push rod assembly is the height at which the push rod assembly is connected to one end of the slide, ΔpT = synchronous control proportional coefficient × ΔpE, pT = current speed + / - (ΔpT / A), and A is the number of push rod assemblies whose speed needs to be adjusted.

2. The pantograph control method according to claim 1, characterized in that: The difference variable pE=|current position difference-initial position difference|, the two push rod assemblies are the first push rod assembly and the second push rod assembly, the initial position difference=the initial height of the first push rod assembly-the initial height of the second push rod assembly, and the current position difference=the current height of the first push rod assembly-the current height of the second push rod assembly.

3. The pantograph control method according to claim 2, characterized in that: In step S30, if the current position difference is less than the initial position difference, the target speed pT of the first push rod assembly is equal to the current speed + (ΔpT / A), and the target speed pT of the second push rod assembly is equal to the current speed - (ΔpT / A); if the current position difference is greater than the initial position difference, the target speed pT of the first push rod assembly is equal to the current speed - (ΔpT / A), and the target speed pT of the second push rod assembly is equal to the current speed + (ΔpT / A).

4. The pantograph control method according to claim 1, characterized in that: The step S40 further includes: calculating a position difference variable ΔpE of the two push rod assemblies while adjusting the speed of the push rod assembly; if the position difference variable ΔpE is less than a set threshold value pE, returning to step S20.

5. The pantograph control method according to claim 1, characterized in that: The electric push rod also includes a screw assembly and a reducer. The screw assembly is used to convert the power of the motor assembly into the telescopic movement of the push rod assembly. The reducer is used to adjust the transmission ratio between the screw assembly and the screw assembly. The synchronous control proportional coefficient = (screw lead (mm) / reducer reduction ratio) × 100.

6. The pantograph control method according to claim 1, characterized in that: The electric push rod further includes a speed feedback device connected to the motor assembly, and the controller includes a counter. The controller calculates the current extension distance of the two push rod assemblies through the counter according to the signal of the speed feedback device.

7. The pantograph control method according to claim 1, characterized in that: The controller also includes a speed control module, a drive control module and a synchronization control module. The speed control module sets a constant acceleration for the push rod assembly according to the target rising speed of the push rod assembly. The drive control module drives the push rod assembly according to the signal of the speed control module. The synchronization control module calculates the position difference variable ΔpE and the speed variable ΔpT according to the position information of the push rod assembly, and inputs the speed variable ΔpT into the speed control module.

8. The pantograph control method according to claim 1, characterized in that: The control method further includes: M10, input the inclination angle of the slide relative to the contact network. If the angle is greater than 0°, execute step M20; if the angle is equal to 0°, execute step S10; M20, according to the tilt angle of the slide, controls one of the push rod assemblies to operate so that the slide is tilted to a specified angle, and then executes step S10; Wherein, step M10 is performed before step S10.

9. The pantograph control method according to claim 1, characterized in that: The pantograph also includes a manual button for controlling the lifting and lowering of a push rod assembly respectively, and the push rod assembly is debugged by the manual button to determine the lifting height of the slide.

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