An electrified road heavy truck pantograph control test device and method

Abstract

In the field of pantograph experiments, the present invention provides an electrified road heavy truck pantograph control test device and method, mainly including a controller under test, the controller under test is built-in with a lateral swing algorithm and a lifting algorithm, the controller under test obtains the target position of the slider on the second linear guide according to the lateral swing algorithm and the video information of the camera, the controller under test transmits the target position of the slider to the PLC, and the PLC drives the slider on the second linear guide to move to the target position according to the target position of the slider. Wherein, when the slider is at the target position, the contact wire is arranged within the contact interval of the carbon slide plate. This experimental device and method can simulate various working conditions and can effectively verify the algorithms of the controller under test.

Description

Technical Field

[0001] The invention belongs to the field of pantograph experiments, and particularly relates to an electrified road heavy truck pantograph control test device and method. Background Art

[0002] The driving scenario of heavy trucks is highly open. There is no track on the ground, and the road conditions are complex. It may also involve slopes, bridges, culverts, tunnels, and large up-and-down bumps. The most crucial thing is to solve the problem that the pantograph does not lose contact with the network and stably receives current in various situations such as vehicle steering, bumping, and braking, that is, the vehicle must have a certain ability to deviate from the line and resist shock and vibration.

[0003] Therefore, in the field of electrified road heavy trucks, the requirements for pantographs are more than those for ordinary pantographs. Before use, the pantograph needs to be tested to ensure that it can meet the driving requirements of heavy trucks.

[0004] The existing technology has a single direction for testing and analyzing the pantograph test bench, and cannot comprehensively conduct experiments on the pantograph. Moreover, when the pantograph is running, it may face many scenarios such as turning and overtaking. The existing experimental devices cannot simulate real scenarios. When the existing technology test bench conducts experiments on the pantograph and monitors the yaw control experiment and current collection quality experiment of the pantograph, it cannot simulate relevant scenarios, and the experimental results obtained are necessarily different from the actual operation results. The test bench of the existing technology can neither comprehensively conduct various experiments nor simulate the real usage scenario of the pantograph. Summary of the Invention

[0005] This application aims to solve at least one of the technical problems in the related art to some extent. The embodiments of the present invention provide an electrified road heavy truck pantograph control test device and method, which can not only conduct various experiments but also simulate the real working scenario of the pantograph.

[0006] The solution is as follows:

[0007] An electrified road heavy truck pantograph control test device includes a test bench, comprising:

[0008] A first linear guide rail, a second linear guide rail, and a third linear guide rail. The first linear guide rail, the second linear guide rail, and the third linear guide rail are arranged in parallel and are sequentially and arrayedly installed on the test bench;

[0009] Support frames. A support frame is slidably connected to each of the first linear guide rail and the third linear guide rail through a slider, and the two support frames support lifting;

[0010] A contact wire. The two ends of the contact wire are respectively fixedly installed on the tops of the two support frames;

[0011] A lifting member, wherein the fixed end of the lifting member is installed on the second linear guide rail through the slider of the second linear guide rail, and the movable end of the lifting member is used to be installed on the support arm of the pantograph to be tested, and the lifting member drives the carbon slide plate of the pantograph to be tested to rise and fall through the support arm;

[0012] A pressure sensor, wherein the pressure sensor is arranged on the pantograph to be tested, and the pressure sensor is used to monitor the contact force between the carbon slide plate of the pantograph to be tested and the contact line;

[0013] A camera, the camera is used to monitor the offset state between the contact wire and the carbon slide plate of the pantograph to be tested;

[0014] A controller under test, wherein the controller under test has a built-in lateral swing algorithm and a lifting algorithm, wherein the controller under test obtains a target position of a slider on the second linear guide rail according to the lateral swing algorithm and the video information of the camera, wherein the controller under test transmits the target position of the slider to the PLC, and the PLC drives the slider on the second linear guide rail to move to the target position according to the target position of the slider, wherein when the slider is at the target position, the contact line is set within the contact interval of the carbon slide plate;

[0015] The controller under test drives the lifting member to move up and down according to the lifting algorithm and the pressure information of the pressure sensor and makes the carbon slide plate contact with the contact line at all times.

[0016] Optionally, the test bench includes: an electric control cabinet;

[0017] The PLC is arranged in the electric control cabinet.

[0018] Optionally, the device further comprises a power receiving component, and the power receiving component is mounted on the second linear guide rail of the test bench through a fixed bracket;

[0019] After the power receiving component contacts the contact wire, the circuit is turned on, and the power receiving component is used to release the electric energy derived from the pantograph to be tested.

[0020] Optionally, the power receiving component includes: a fan and a resistor;

[0021] The resistor is connected to the carbon slide plate of the pantograph to be tested through a wire;

[0022] The fan is used to dissipate heat from the resistor.

[0023] Optionally, the lifting member includes:

[0024] A fixed plate, the fixed plate being mounted on the moving end of the second linear guide rail;

[0025] A rotating motor, wherein the rotating motor is mounted on a rotating bracket;

[0026] A rotating bracket, wherein the rotating bracket is fixedly mounted on the fixed plate;

[0027] A lead screw, one end of which is installed in the through hole of the lead screw frame, the other end of which is connected to the output end of the rotating motor, and the axis of the lead screw is vertically arranged in the middle of the second linear guide rail;

[0028] A rotating shaft and a rotating shaft frame, wherein the rotating shaft frame is mounted on the fixed plate, both ends of the rotating shaft are mounted in the rotating shaft frame, the end of the support arm of the pantograph to be tested is fixed in the mounting groove in the middle of the rotating shaft, and the side wall of the rotating shaft and the side away from the mounting shaft are fixedly connected to the guide plate;

[0029] A driving block and a guide plate, wherein one end of the driving block is mounted on the lead screw, and the other end of the driving block is slidably connected to a slot of the guide plate, and one end of the guide plate is fixedly mounted on an outer wall of the rotating shaft, and when the driving plate is inserted into the slot of the guide plate, the guide plate forms an angle with a horizontal plane;

[0030] When the lead screw rotates, the drive block moves along the axial direction of the lead screw, and the drive block drives the guide plate to start rotating with the rotating shaft as the rotation center through the slot, and the rotating shaft drives the support arm of the pantograph to be tested to rotate around the rotating shaft, and the support arm of the pantograph to be tested drives the carbon slide board of the pantograph to be tested to rise and fall.

[0031] A method for testing pantograph control of an electrified highway heavy truck includes the above-mentioned pantograph control testing device for an electrified highway heavy truck, and includes the following steps:

[0032] Build a pantograph control test device for electrified highway heavy trucks;

[0033] The electric highway heavy truck pantograph control test device performs a yaw control test on the pantograph to be tested, and / or the electric highway heavy truck pantograph control test device performs a current collection quality test on the pantograph to be tested;

[0034] The controller under test determines whether the lateral swing of the pantograph under test is consistent with the lateral swing of the contact line according to the data of the lateral swing control test of the pantograph under test and the image data of the camera, and obtains a conclusion on whether the lateral swing control algorithm in the controller under test is effective. The lateral swing control algorithm is used to control the lateral swing of the pantograph under test;

[0035] Among them, the controller under test obtains a conclusion on whether the lifting algorithm in the controller under test is effective according to the data of the current collection quality test of the pantograph under test, and the lifting algorithm is used to control the lifting of the carbon slide plate.

[0036] Optionally, the yaw control test of the pantograph under test by the electrified road heavy truck pantograph control test device includes: a same-direction mode, a single-point mode, and a random mode;

[0037] In the same-direction mode, the single-point mode, and the random mode, the first linear guide is set as the main guide rail, the second linear guide is set as the controlled guide rail, and the third linear guide is set as the auxiliary guide rail. Among them, the second linear guide adjusts the position of the carbon slide plate in real time according to the swing of the catenary, so that the contact area of the carbon slide plate is always in contact with the catenary;

[0038] Same-direction mode: The slider on the main guide rail performs linear reciprocating motion according to the signal sent by the PLC. The auxiliary guide rail moves synchronously with the main guide rail. At the same time, the pressure sensor outputs the pressure data of the carbon slide plate to the controller under test. Among them, the waveform of the signal sent by the PLC in this mode is a sine waveform or a random waveform;

[0039] Single-point mode: The slider on the main guide rail performs linear motion according to the signal sent by the PLC, and the slider on the auxiliary guide rail is in a stationary state. Among them, the waveform of the signal sent by the PLC in this mode is a sine waveform or a random waveform;

[0040] Random mode: The slider on the main guide rail performs linear motion according to the signal sent by the PLC, and the slider on the auxiliary guide rail performs linear motion according to the signal sent by the PLC. Among them, the slider on the main guide rail and the slider on the auxiliary guide rail move independently. At the same time, the pressure sensor outputs the pressure data of the carbon slide plate to the controller under test. Among them, the waveform of the signal sent by the PLC in this mode is a sine waveform or a random waveform.

[0041] Optionally, the controller under test determines whether the lateral swing of the pantograph under test is consistent with the lateral swing of the catenary according to the data of the yaw control test of the pantograph under test and the image data of the camera, and obtains a conclusion on whether the lateral swing control algorithm in the controller under test is effective, including:

[0042] Judge whether the catenary is at the target position of the carbon slide plate according to the image data transmitted by the camera to the controller under test. If the catenary is at the target position of the carbon slide plate, the lateral swing control algorithm is effective, otherwise it is invalid.

[0043] Optionally, the current collection quality test of the pantograph to be tested by the pantograph control test device for electric heavy trucks on electrified roads includes:

[0044] Elastic members are respectively installed on the two support frames, and both ends of the catenary are installed on the tops of the two support frames through elastic members. Among them, the elastic members support vertical elastic fluctuations according to an electric control instruction, and the vertical elastic fluctuation range of the elastic members is within 2 mm;

[0045] 4201. Power on the pantograph control test device for electric heavy trucks on electrified roads, and the catenary supplies power to the pantograph to be tested;

[0046] 4202. Send an electric control instruction to the elastic member, and the elastic member trembles. The tremor frequency of the elastic member is not higher than 3 Hz;

[0047] 4203. The pressure sensor transmits the measured pressure value to the tested controller, and the tested controller judges whether the lifting algorithm is effective according to the pressure value measured by the pressure sensor.

[0048] Optionally, the pressure sensor in 4203 transmits the measured pressure value to the tested controller, and the tested controller judges whether the lifting algorithm is effective according to the pressure value measured by the pressure sensor, including:

[0049] The tested controller obtains the average contact pressure value, standard deviation value, maximum contact pressure value, minimum contact pressure value, statistical maximum contact pressure value, and statistical minimum contact pressure value according to the pressure value measured by the pressure sensor;

[0050] When n≥3, the lifting algorithm is effective; otherwise, the lifting algorithm is invalid.

[0051] Where n is the number of conditions that meet the evaluation criteria;

[0052] Among them, the conditions of the evaluation criteria include conditions 1 to 6:

[0053] Condition 1: The average contact pressure is greater than the first threshold;

[0054] Condition 2: The standard deviation value is less than the second threshold;

[0055] Condition 3: The maximum contact pressure is less than the third threshold;

[0056] Condition 4: The minimum contact pressure is greater than the fourth threshold;

[0057] Condition 5: The statistical maximum contact pressure is less than the fifth threshold;

[0058] Condition 6: The statistical minimum contact pressure is greater than the sixth threshold.

[0059] The beneficial effects brought by the technical solutions provided in the embodiments of the present invention at least include:

[0060] 1. It can perform a variety of experiments, such as: yaw control test and current collection quality test;

[0061] 2. It can simulate a variety of working conditions. For example, the same-direction mode can simulate the scenarios of a heavy truck turning or changing lanes, the single-point mode can simulate the fine adjustment of the heavy truck's head or the heavy truck changing lanes, and the random mode can simulate the vehicle operation stability scenarios caused by driver reasons or actual environmental factors. Combining with the existing actual scenarios for simulation tests can better judge whether the pantograph meets the working requirements;

[0062] 3. It can judge whether the algorithms in the system are effective based on the experimental results, so as to ensure whether the algorithms can timely adjust the working state of the pantograph when the pantograph is working, and can timely adjust the control algorithms for controlling the pantograph to meet the working requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0064] Figure 1 It is a schematic diagram of the overall structure provided by the present invention;

[0065] Figure 2 It is a first perspective view of the pantograph to be tested installed on the lifting member provided by the present invention;

[0066] Figure 3 It is a second perspective view of the pantograph to be tested installed on the lifting member provided by the present invention;

[0067] Figure 4 It is a third perspective view of the pantograph to be tested installed on the lifting member provided by the present invention;

[0068] Figure 5 It is a schematic diagram of the structure of the pantograph to be tested installed on the lifting member with the rotating shaft frame removed provided by the present invention;

[0069] Figure 6 It is a schematic diagram of the sine wave signal emitted by the PLC provided by the present invention;

[0070] Figure 7 It is a schematic diagram of the random wave signal emitted by the PLC provided by the present invention.

[0071] Marking description:

[0072] 1. Test bench; 2. First linear guide; 3. Second linear guide; 4. Third linear guide; 5. Support frame; 6. Contact wire; 7. Lifting member; 71. Fixed plate; 72. Rotating motor; 73. Rotating bracket; 74. Lead screw; 75. Rotating shaft; 76. Rotating shaft frame; 77. Driving plate; 78. Guide plate; 8. Pressure sensor; 9. Carbon sliding plate; 10. Support arm; 11. Cam device. Specific embodiments

[0073] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0074] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The "first", "second", and similar terms used in the present invention do not denote any order, quantity, or importance, but are only used to distinguish different components. Similarly, terms such as "a", "an", or "the" do not denote a quantity limitation, but mean that there is at least one. The terms "including" or "comprising" and the like mean that the elements or items appearing before this word cover the elements or items listed after this word and their equivalents, without excluding other elements or items. The terms "connected" or "coupled" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0075] It should be noted that the "upper", "lower", "left", "right", "front", "rear", etc. used in the present invention are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0076] As Figure 1 shown, an electrified road heavy truck pantograph control test device includes a test bench 1 and a first linear guide 2, a second linear guide 3, and a third linear guide 4 provided on the test bench 1;

[0077] Among them, the first linear guide 2, the second linear guide 3 and the third linear guide 4 are arranged in parallel and installed in an array on the test bench 1 in sequence. On the table top of the upper surface of the test bench 1, in the length direction of the upper surface of the test bench 1, from one direction to another, the first linear guide 2, the second linear guide 3 and the third linear guide 4 are installed on the upper surface of the test bench 1 in sequence, and the spacing between the three is equal and parallel to each other. The two ends of the first linear guide 2, the second linear guide 3 and the third linear guide 4 are aligned in sequence.

[0078] A support frame 5 is provided, and a support frame 5 is slidably connected to the first linear guide 2 and the third linear guide 4 respectively; sliders are provided on the first linear guide 2, the second linear guide 3 and the third linear guide 4 respectively, the slider on the first linear guide 2 is fixedly installed on a support frame 5, the slider on the third linear guide 4 is fixedly installed on a support frame 5, and the slider on the second linear guide 3 is fixedly installed on a fixed plate 71 in the lifting member 7.

[0079] The support frame 5 is the existing technology. The actual support frame 5 is a supporting column. A cam device 11 is installed at the bottom of the column. The cam device 11 is installed at the moving end of the corresponding linear guide rail. The cam device 11 can drive the column to realize the lifting and lowering of the contact line 6. Taking the preset height of the contact line 6 as the standard, the cam device 11 can drive the column to lift and lower, thereby driving the contact line 6 to lift and lower within the range of ±2cm from the preset height.

[0080] Among them, the structure of the cam device 11 is the prior art, and the structure of the cam device 11 drives the bottom end of the column to achieve linear lifting and lowering. In addition, the cam device 11 is installed on the corresponding slider, and the movement of the slider can drive the cam device 11 to move. An elastic member is set at the connection end between the column and the contact line 6. The elastic member can be a spring. The contact line 6 is connected to the elastic member. The elastic member can achieve vertical elastic fluctuations according to the electric control command. The fluctuation range is between 2mm above and below, simulating the transient separation phenomenon of the contact line 6 and the pantograph. By monitoring the contact force, the lifting and lowering control of the pantograph is realized to ensure the stability of the current collection characteristics.

[0081] The contact wire 6 has two ends fixedly mounted on the top of the two support frames 5 respectively; the specific structure of the contact wire 6 is the prior art.

[0082] like Figures 2 to 5 As shown, a lifting member 7, the fixed end of which is mounted on the second linear guide rail 3 via a slider, and the movable end of which is used to be mounted on a support arm 10 of the pantograph to be tested, and the lifting member 7 drives the carbon slide plate 9 of the pantograph to be tested to rise and fall via the support arm 10.

[0083] The specific structure of the lifting member 7 includes: a fixed plate 71 , a rotating motor 72 , a rotating bracket 73 , a lead screw 74 , a rotating shaft 75 , a rotating shaft frame 76 , a driving plate 77 and a guide plate 78 .

[0084] A fixed plate 71 is installed at the moving end of the second linear guide rail 3; when the slider of the second linear guide rail 3 moves, the slider of the second linear guide rail 3 drives the fixed plate 71 to move, wherein the fixed plate 71 is a rectangular plate, and a plurality of mounting holes are evenly arrayed on the fixed plate 71, and related components installed on the fixed plate 71 are installed on the fixed plate 71 through the mounting holes at corresponding positions.

[0085] The rotating motor 72 is mounted on a rotating bracket 73 .

[0086] The rotating bracket 73 is fixedly mounted on the fixing plate 71 .

[0087] The rotating motor 72 is installed in the rotating bracket 73, and the structure of the rotating bracket 73 can be set according to needs. The rotating bracket 73 of this embodiment includes a support and a frame. The support as a whole is two rectangular plates connected vertically together. The rectangular plate on the bottom surface of the support is used to install the bottom surface of the rotating motor 72, and the rectangular plate on the side surface of the support is used to connect the end surface of the output end of the rotating motor 72 and to provide a through hole for the output shaft of the rotating motor 72. The frame is an inverted U-shaped right-angle frame, and the two mounting legs of the inverted U-shaped right-angle frame are installed on the fixed plate 71. The rotating shaft frame 76 sets its fixed angle according to actual needs. One end of the rotating shaft frame 76 is installed on the crossbeam of the inverted U-shaped right-angle frame, and the other end of the rotating shaft frame 76 is installed on the insulating seat. The structure of the insulating seat is set according to the actual scene requirements. The material of the insulating seat is insulating material. The relevant settings are prior art. The insulating seat is installed on the fixed plate 71, and the lead screw 74 is installed on the fixed plate 71.

[0088] A lead screw 74 , one end of which is mounted in a through hole of a lead screw 74 frame, the other end of which is connected to an output end of the rotary motor 72 , and an axis of the lead screw 74 is vertically disposed in the middle of the second linear guide rail 3 .

[0089] A rotating shaft 75 and a rotating shaft frame 76, wherein the rotating shaft frame 76 is mounted on the fixed plate 71, both ends of the rotating shaft 75 are mounted in the rotating shaft frame 76, the end of the support arm 10 of the pantograph to be tested is fixed in the mounting groove in the middle of the rotating shaft 75, and the side wall of the rotating shaft 75 and the side away from the mounting shaft are fixedly connected to the guide plate 78.

[0090] Both ends of the rotating shaft 75 are installed at corresponding positions of the rotating shaft frame 76. One end of the rotating shaft frame 76 is installed on the cross beam of the frame through the mounting ear, and the other end of the rotating shaft frame 76 is installed on the fixed plate 71 through the insulating support. Among them, an installation groove for installing the support arm 10 of the pantograph to be measured is provided in the middle of the rotating shaft 75. When the rotating shaft 75 rotates, the support arm 10 of the pantograph to be measured will rotate with the rotation center of the rotating shaft 75 as the axis of rotation, and the pantograph to be measured will rise and fall according to the rotation of the rotating shaft 75.

[0091] A driving block and a guiding plate 78. One end of the driving block is installed on the lead screw 74, and the other end of the driving block is slidably connected in the card slot of the guiding plate 78. One end of the guiding plate 78 is fixedly installed on the outer wall of the rotating shaft 75. When the driving plate 77 is inserted into the card slot of the guiding plate 78, the guiding plate 78 forms an angle with the horizontal plane.

[0092] When the lead screw 74 rotates, the driving block moves along the axis direction of the lead screw 74. The driving block drives the guiding plate 78 to start rotating with the rotating shaft 75 as the rotation center through the card slot. The rotating shaft 75 drives the support arm 10 of the pantograph to be measured to rotate around the rotating shaft 75, and the support arm 10 of the pantograph to be measured drives the carbon sliding plate 9 of the pantograph to be measured to rise and fall.

[0093] The specific working principle of the lifting member 7 includes:

[0094] The driving motor starts to drive the lead screw 74 to rotate. Since one end of the driving plate 77 is threadedly connected to the lead screw 74, the connection structure between the driving plate 77 and the lead screw 74 is equivalent to a nut. When the lead screw 74 rotates and the position of the driving motor is fixed, the driving plate 77 will perform a linear reciprocating motion following the rotation of the lead screw 74. Since the other end of the driving plate 77 is provided with a clamping structure connected to the card slot of the guiding plate 78 and the position of the rotating shaft 75 is fixed, the rotating shaft 75 can only rotate within the rotating shaft frame 76, so the guiding plate 78 can only rotate and cannot move horizontally together with the driving plate 77. Therefore, when the driving plate 77 moves linearly along the lead screw 74, the clamping structure of the driving plate 77 will rotate the guiding plate 78 through the card slot. The guiding plate 78 rotates with the rotation center of the rotating shaft 75 as the rotation center. When the guiding plate 78 rotates, the guiding plate 78 drives the rotating shaft 75 to rotate accordingly. The support arm 10 of the pantograph to be measured installed on the rotating shaft 75 rotates accordingly and realizes the lifting of the carbon sliding plate 9 of the pantograph to be measured.

[0095] A pressure sensor 8. The pressure sensor 8 is arranged on the pantograph to be measured, and the pressure sensor 8 is used to monitor the contact force between the carbon sliding plate 9 of the pantograph to be measured and the contact wire 6. The number of the pressure sensors 8 is two, and they can be respectively installed at both ends of the bottom surface of the carbon sliding plate 9 of the pantograph to be measured for connection.

[0096] A camera for monitoring the offset state between the catenary 6 and the carbon slide plate 9 of the pantograph under test.

[0097] The controller under test has a built-in lateral swing algorithm and a lifting algorithm. The controller under test obtains the target position of the slider on the second linear guide according to the lateral swing algorithm and the video information of the camera, and transmits the target position of the slider to the PLC. The PLC drives the slider on the second linear guide to move to the target position according to the target position of the slider. When the slider is at the target position, the catenary is arranged within the contact interval of the carbon slide plate.

[0098] The controller under test drives the lifting member to lift and lower according to the lifting algorithm and the pressure information of the pressure sensor, so that the carbon slide plate is always in contact with the catenary.

[0099] In a specific embodiment, the test bench includes an electric control cabinet, and the PLC is arranged in the electric control cabinet.

[0100] In a specific embodiment, the device further includes a power receiving assembly, which is installed on the second linear guide 3 through a fixed bracket; the power receiving assembly is electrically connected after contacting the catenary, and the power receiving assembly is used to release the electric energy led out by the pantograph under test. The power receiving assembly includes a fan and a resistor; the resistor is connected to the carbon slide plate 9 of the pantograph under test through a wire; the fan is used to dissipate heat from the resistor.

[0101] Regarding the opening and closing setting of the fan, the electric control can be realized according to the actual experience of those skilled in the art. For example, when it is found that the resistor exceeds the temperature threshold, the fan starts. The start of the fan can be intelligent or manual. The electric energy of the fan can be provided by its own battery or the function of the electric control box. The related technology is the prior art and will not be elaborated here.

[0102] This experimental device can conduct various experiments, such as yaw control test and current collection quality test.

[0103] This experimental device can simulate various working conditions. For example, the same-direction mode can simulate the heavy truck turning scenario or the lane-changing scenario, the single-point mode can simulate the fine adjustment of the heavy truck head or the heavy truck lane-changing, and the random mode can simulate the vehicle running stability scenario caused by driver reasons or actual environmental factors. Combining with the existing actual scenarios for simulation tests can better judge whether the pantograph meets the working requirements.

[0104] This experimental device can determine whether the algorithm in this system is effective based on the experimental results, so as to ensure whether the algorithm can adjust the working state of the pantograph in time when the pantograph is working, and whether the control algorithm of the pantograph can be adjusted in time to meet the working requirements.

[0105] The main principles of this experimental device are:

[0106] By installing sliders on three linear guides, the middle linear guide is fixed to simulate the pantograph device to be tested, and the linear guides at both ends are fixed with the same support frames, the simulated contact wire is fixed on the support frames, and three linear guides are fixed on the experimental table, so that the simulated contact wire is subjected to a certain degree of tension, and the simulated pantograph to be tested is under the contact wire, ensuring that the midpoint of the carbon slide plate of the simulated pantograph to be tested intersects with the contact wire. The controller under test controls the linear guide of the bracket that fixes the contact wire, so that both ends of the contact wire can slide laterally along the linear guide, simulating the lateral swing of the contact wire relative to the pantograph to be tested during vehicle operation. The middle linear guide is controlled by the controller under test, which has control algorithms (lateral swing algorithm and lifting algorithm). The test bench fixes the camera at an appropriate position and collects image information. The controller under test calculates the sliding direction and distance of the linear guide rail carrying the pantograph to be tested based on the current position relationship of the pantograph and the net in the provided video, and sends the instruction to the control driver of the linear guide rail of the pantograph to be tested. The driver converts the control instruction into motor motion parameters, so that the slider of the linear guide rail of the pantograph to be tested completes the motion behavior according to the instruction requirements. In the above manner, the accuracy and stability of the pantograph to be tested in tracking the swing of the contact line are verified to verify the effectiveness of the control algorithm of the controller under test. Furthermore, the contact tension between the carbon slide plate of the pantograph to be tested and the contact line is tested by the pressure sensor at the carbon slide plate bracket of the pantograph to be tested, so as to judge the contact state between the pantograph to be tested and the carbon slide plate through the current collection quality calculation formula, and timely control is applied to the lifting and lowering of the pantograph to be tested to ensure the safety and stability of the current collection quality.

[0107] Another aspect of the present invention provides a method for testing the pantograph control of an electrified highway heavy truck, comprising the above-mentioned pantograph control test device for an electrified highway heavy truck, and comprising the following steps:

[0108] S1. Build a pantograph control test device for electrified highway heavy trucks;

[0109] S2. The pantograph control test device for electric heavy-duty trucks performs a yaw control test on the pantograph to be tested, and / or the pantograph control test device for electric heavy-duty trucks performs a current collection quality test on the pantograph to be tested;

[0110] The yaw control test of the pantograph to be tested by the electrified highway heavy truck pantograph control test device includes: same direction mode, single point mode and random mode;

[0111] In the same - direction mode, single - point mode, and random mode, set the first linear guide as the main guide, set the second linear guide as the controlled guide, and set the third linear guide as the auxiliary guide. Among them, the second linear guide adjusts the position of the carbon slide plate in real - time according to the swing of the contact wire, so that the contact area of the carbon slide plate is always in contact with the contact wire;

[0112] The sine - spectrum trajectory provided by this embodiment is as Figure 6 shown. The random trajectory provided by this embodiment is as Figure 7 shown. The random trajectory can also be an irregular trajectory generated in other random forms.

[0113] ①Same - direction mode: The slider on the main guide performs linear reciprocating motion according to the signal sent by the PLC. The auxiliary guide moves synchronously with the main guide. At the same time, the pressure sensor outputs the pressure data of the carbon slide plate to the measured controller. Among them, the waveform of the signal sent by the PLC in this mode is a sine waveform or a random waveform;

[0114] Drive the first linear guide as the main guide, that is, the slider on the main guide moves according to the signal sent by the PLC. Drive the second linear guide as the controlled guide. The slider on the controlled guide observes the running states of the pantograph and the contact wire through a camera to judge the running state of the guide and implement motion tracking. Drive the third linear guide as the auxiliary guide. The slider of the auxiliary guide moves synchronously with the slider of the main guide to ensure synchronous swing at both ends of the contact wire. At the same time, the pressure sensor on the pantograph to be measured outputs the pressure conduction data of the carbon slide plate to the upper computer. This mode supports simulating the turning state and lane - changing state of the heavy truck where the pantograph to be measured is located during transportation.

[0115] ②Single - point mode: The slider on the main guide performs linear motion according to the signal sent by the PLC. The slider on the auxiliary guide is in a stationary state. Among them, the waveform of the signal sent by the PLC in this mode is a sine waveform or a random waveform;

[0116] Drive the slider on the first linear guide to move according to the signal sent by the PLC. Drive the second linear guide as the controlled guide. The slider on it observes the running states of the pantograph and the contact wire through a camera to judge the running state of the guide and implement motion tracking. Drive the third linear guide as a stationary guide, which cannot move. At the same time, the pressure sensor on the pantograph to be measured outputs the pressure conduction data of the carbon slide plate to the upper computer. This mode supports simulating the scenarios of slight adjustment of the truck head or lane - changing during the running of the heavy truck where the pantograph to be measured is located.

[0117] ③ Random mode: The slider on the main guide rail moves linearly according to the signal sent by the PLC, and the slider on the secondary guide rail moves linearly according to the signal sent by the PLC. Among them, the slider on the main guide rail and the slider on the secondary guide rail move independently. At the same time, the pressure sensor outputs the pressure data of the carbon sliding plate to the controller under test. Among them, the waveform of the signal sent by the PLC in this mode is a sine waveform or a random waveform.

[0118] The first linear guide rail is a driven independent guide rail, and the slider on it moves according to the signal sent by the PLC. The second linear guide rail is a controlled guide rail, and the running state of the pantograph and the contact wire is observed by the camera on its slider to judge the running state of the guide rail and implement motion tracking. The third linear guide rail is a driven independent guide rail, and the slider on it moves according to a sine trajectory or a random trajectory, which has nothing to do with the movement of the slider on the first linear guide rail. At the same time, the pressure sensor on the pantograph under test outputs the pressure conduction data of the carbon sliding plate to the upper computer; this mode supports simulating the situation where the heavy truck where the pantograph under test is located has unstable running due to driver reasons or actual environmental factors.

[0119] The controller under test judges whether the lateral swing of the pantograph under test is consistent with the lateral swing of the contact wire according to the data of the yaw control test of the pantograph under test and the image data of the camera, and obtains a conclusion on whether the lateral swing control algorithm in the controller under test is effective. The lateral swing control algorithm is used to control the lateral swing of the pantograph under test, and specifically includes:

[0120] Judge whether the contact wire is at the target position of the carbon sliding plate according to the image data transmitted from the camera to the controller under test. If the contact wire is at the target position of the carbon sliding plate, the lateral swing control algorithm is effective, otherwise it is invalid.

[0121] Based on the conclusion that the lateral swing control algorithm is invalid, those skilled in the art can continue to adjust the algorithm so that the lateral swing control algorithm meets the standard for practical application.

[0122] The upper controller obtains whether the lifting algorithm in the controller under test is effective according to the data of the current collection quality test of the pantograph under test. The lifting algorithm is used to control the lifting of the pantograph under test, and specifically includes:

[0123] Elastic members are respectively installed on the two support frames, and the two ends of the contact wire are respectively installed on the tops of the two support frames through elastic members. Among them, the elastic members support vertical elastic fluctuations according to the electric control instruction, and the vertical elastic fluctuation range of the elastic members is within 2 mm;

[0124] 4201. Power on the pantograph control test device for the electric highway heavy truck, and the catenary supplies power to the pantograph to be tested.

[0125] 4202. Send an electronic control instruction to the elastic member, and the elastic member vibrates, and the vibration frequency of the elastic member is not higher than 3 Hz.

[0126] 4203. The pressure sensor transmits the measured pressure value to the controller under test, and the controller under test judges whether the lifting algorithm is effective according to the pressure value measured by the pressure sensor.

[0127] That the pressure sensor in 4203 transmits the measured pressure value to the controller under test, and the controller under test judges whether the lifting algorithm is effective according to the pressure value measured by the pressure sensor includes:

[0128] The controller under test obtains the average contact pressure value, standard deviation value, maximum contact pressure value, minimum contact pressure value, statistical maximum contact pressure value and statistical minimum contact pressure value according to the pressure value measured by the pressure sensor.

[0129] Among them, the calculation formulas for the average contact pressure value, standard deviation value, maximum contact pressure value, minimum contact pressure value, statistical maximum contact pressure value and statistical minimum contact pressure value are prior art and will not be elaborated in this embodiment.

[0130] When n≥3, the lifting algorithm is effective; otherwise, the lifting algorithm is invalid.

[0131] Among them, n is the number of conditions that meet the evaluation criteria.

[0132] Among them, the conditions of the evaluation criteria include Conditions 1 to 6:

[0133] Condition 1: The average contact pressure value is greater than the first threshold.

[0134] Condition 2: The standard deviation value is less than the second threshold.

[0135] Condition 3: The maximum contact pressure value is less than the third threshold.

[0136] Condition 4: The minimum contact pressure value is greater than the fourth threshold.

[0137] Condition 5: The statistical maximum contact pressure value is less than the fifth threshold.

[0138] Condition 6: The statistical minimum contact pressure value is greater than the sixth threshold.

[0139] Through the calculation of the above evaluation criteria, the upper controller gives corresponding index values for the tester's reference.

[0140] The tester pre-sets the thresholds of the evaluation parameters (i.e., the first threshold, the second threshold, the third threshold, the fourth threshold, the fifth threshold, and the sixth threshold) on the host computer. After any parameter exceeds the threshold range, the host computer gives a pantograph lifting control instruction to keep the pantograph in stable contact force with the contact wire.

[0141] Then, through the pressure sensor data collected by the host computer, the contact evaluation parameters between the pantograph and the contact wire are observed. Through the above process, the closed-loop control of the current collection quality of the pantograph is carried out to achieve stable current collection characteristics, and at the same time, it can evaluate whether the lateral swing control algorithm and the lifting algorithm are effective.

[0142] This experimental method can conduct various experiments, such as: yaw control test and current collection quality test;

[0143] This experimental method can simulate various working conditions. For example, the same-direction mode can simulate the heavy truck turning scene or the lane-changing scene, the single-point mode can simulate the fine-tuning of the heavy truck head or the heavy truck lane-changing, and the random mode can simulate the vehicle operation stability scene caused by driver reasons or actual environmental factors. Combining with the existing actual scenes for simulation testing can better judge whether the pantograph meets the working requirements;

[0144] This experimental method can judge whether the algorithms in this system are effective according to the experimental results, so as to ensure whether the algorithms can timely adjust the working state of the pantograph when the pantograph is working, and can timely adjust the control algorithms for controlling the pantograph to meet the working requirements.

[0145] The following points need to be explained:

[0146] (1) The attached drawings of the embodiments of the present invention only involve the structures related to the embodiments of the present invention, and other structures can refer to the general design.

[0147] (2) For clarity, in the attached drawings used to describe the embodiments of the present invention, the thickness of the layer or region is enlarged or reduced, that is, these drawings are not drawn according to the actual scale. It can be understood that when an element such as a layer, a film, a region, or a substrate is referred to as being "on" or "under" another element, the element can be "directly" on or under the other element or there can be an intermediate element.

[0148] (3) Without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0149] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A test method for controlling a pantograph of an electrified highway heavy truck, characterized in that Including: Construct an electrified road heavy truck pantograph control test device; Conduct yaw control tests and current collection quality tests on the pantograph to be tested; The yaw control test includes: the same-direction mode, the single-point mode, and the random mode. Set the first linear guide as the main guide, the second linear guide as the controlled guide, and the third linear guide as the auxiliary guide. The second linear guide adjusts the position of the carbon sliding plate in real time according to the swing of the contact wire so that the contact area of the carbon sliding plate is always in contact with the contact wire; Same-direction mode: The slider on the main guide performs linear reciprocating motion according to the signal sent by the PLC. The auxiliary guide moves synchronously with the main guide. At the same time, the pressure sensor outputs the pressure data of the carbon sliding plate to the controller under test; Single-point mode: The slider on the main guide performs linear motion according to the signal sent by the PLC. The slider on the auxiliary guide is in a stationary state; Random mode: The slider on the main guide performs linear motion according to the signal sent by the PLC. The slider on the auxiliary guide performs linear motion according to the signal sent by the PLC. The slider on the main guide and the slider on the auxiliary guide move independently. At the same time, the pressure sensor outputs the pressure data of the carbon sliding plate to the controller under test; In the three modes, the waveform of the signal sent by the PLC is a sine waveform or a random waveform; Judge whether the contact wire is at the target position of the carbon sliding plate according to the image data transmitted by the camera to the controller under test. If the contact wire is at the target position of the carbon sliding plate, the lateral swing control algorithm in the controller under test is effective, otherwise it is ineffective. The lateral swing control algorithm controls the lateral swing of the pantograph to be tested; The controller under test obtains a conclusion on whether the lifting algorithm in it is effective according to the data of the current collection quality test of the pantograph to be tested. The lifting algorithm controls the lifting of the carbon sliding plate.

2. The pantograph control test method for an electrified highway heavy truck according to claim 1, wherein Conducting a current collection quality test on the pantograph to be tested includes: Elastic members are respectively installed on two support frames. Both ends of the contact wire are installed on the top of the support frames through the elastic members. Among them, the elastic members support vertical elastic fluctuations according to the electric control instructions, and the vertical elastic fluctuation range of the elastic members is within 2 mm; 4201. Power on the electrified road heavy truck pantograph control test device, and the contact wire supplies power to the pantograph to be tested; 4202. Send an electric control instruction to the elastic member, and the elastic member trembles. The tremor frequency of the elastic member is not higher than 3 Hz; 4203. The pressure sensor transmits the measured pressure value to the controller under test. The controller under test judges whether the lifting algorithm is effective according to the pressure value measured by the pressure sensor.

3. The pantograph control test method for an electrified road heavy truck according to claim 2, wherein The pressure sensor transmits the measured pressure value to the controller under test. The controller under test judges whether the lifting algorithm is effective according to the pressure value measured by the pressure sensor, including: The controller under test obtains the average contact pressure value, the standard deviation value, the maximum contact pressure value, the minimum contact pressure value, the statistical maximum contact pressure value, and the statistical minimum contact pressure value according to the pressure value measured by the pressure sensor; When n≥3, the lifting algorithm is effective, otherwise, the lifting algorithm is ineffective, where n is the number of conditions that meet the evaluation criteria; where the conditions of the evaluation criteria include conditions 1 to 6: Condition 1: The average contact pressure is greater than the first threshold; Condition 2: The standard deviation value is less than the second threshold; Condition 3: The maximum contact pressure is less than the third threshold value; Condition 4: The minimum contact pressure is greater than the fourth threshold value; Condition 5: The maximum statistical contact pressure is less than the fifth threshold value; Condition 6: The minimum statistical contact pressure is greater than the sixth threshold value.

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