A pantograph testing device and a testing system thereof

Abstract

The present invention relates to a pantograph test device and a test system thereof, including a housing and a driving component, a linkage component, a measuring component and a force sensing component arranged inside the housing; to avoid the regular non-periodic change of the corresponding relationship of the linear angular velocity due to the change of the stacking position of the wire rope, and the change rate is not fixed, and when the stacking is uneven, occasional position mutations or even reverse growth will occur, so structural adjustments are made to the sheave structure and operation mode, and its structure limits the proportional relationship between the angle of rotation and the circumference, ensuring that when the sheave is in any position, there is no relative position change between the rope outlet and the rope wire rope entry position, thereby ensuring that the position of the rope outlet and the position of the bow head connection point at the end of the wire rope are always relatively fixed and do not change. Second, through the distribution of the force sensing unit, the periodic error can be further corrected on this basis, making the force measurement data more accurate and reliable.

Description

Technical Field

[0001] The present invention relates to a pantograph testing technology, and more particularly to a pantograph testing device and a testing system. Background Art

[0002] At present, standard pantograph test benches are commonly used for pantograph testing. Ordinary pantograph test benches mainly test tension during testing, and the time for raising and lowering the pantograph is counted using a stopwatch. When conditions are insufficient, a tubular dynamometer is even used for tension testing. Patent with publication number CN221078288U discloses a pantograph tension test device for EMUs. The pantograph tension test is performed using a handheld terminal. Although the timing problem can be solved by a built-in timer, there is no large driving force and holding method, and it cannot be used for larger pantograph testing. There are also problems with accuracy. Patent with publication number CN204788991U discloses a system device for testing the characteristics of a locomotive pantograph, which includes a portable pantograph tester and a human-computer interaction microcomputer part. During the pantograph airbag charging, the pantograph is tested by a handheld terminal. When the pantograph is in the raised state, a displacement and tension test device is hung on the pantograph, and the displacement and tension test device drives the pantograph to rise and fall at a uniform speed. During the movement, the displacement and tension test device reads the height displacement and tension value of the pantograph, and then transmits the measured height displacement and tension value to the wireless human-computer interaction microcomputer, which calculates the pressure difference through the received height displacement and pressure value to form a height displacement and pressure curve, and then compares it with the normal value to judge the pantograph characteristic status and realize the inspection of the pantograph characteristics. The accuracy of pantograph detection is improved, and tension test is performed by outputting tension and recovering tension. CN209802412U also discloses a pantograph performance test device, which relates to the technical field of characteristic detection of pantographs for rail vehicles. The device includes a power supply system, a wind source device, a comprehensive test platform, a photoelectric sensor mounting rod and a drive device; the power supply system is connected to the comprehensive test platform through a power supply line, the wind source device is connected to the comprehensive test platform through a wind source pipeline, the pantograph is connected to the comprehensive test platform through a solenoid valve passage, and the drive device is connected to the pantograph and the comprehensive test platform; an air path control valve is provided on the wind source pipeline and the solenoid valve passage, a wind pressure sensor is provided in the solenoid valve passage, a grating ruler is installed on the photoelectric sensor mounting rod, and a position sensor is installed on the pantograph bow head; the drive device includes a tension sensor, a wire rope and a drive box, a rotating shaft and a tension sensor are installed in the drive box, and the wire rope is wound around the rotating shaft and connected to the bow head. This device tests the pantograph, which can effectively avoid manual errors and improve the safety and life of the pantograph. However, all of the above methods have a problem. The test rope is generally wound on a roller. During the unwinding process, the roller's radius will either gradually shorten or its position will change. Both of these will result in different force points and affect the relationship between the tension test result and the position. As the unwinding stroke increases, the corresponding value of this error will also increase. Therefore, when completing the limit stroke test, the error generated will be very large, making it difficult to accurately test the result. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a pantograph testing device and a testing system thereof.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a pantograph testing device, comprising a housing and a driving component, a linkage component, a measuring component and a force sensing component arranged inside the housing;

[0005] The measuring assembly comprises a rope storage wheel and a measuring rope wound around the rope storage wheel;

[0006] The driving assembly drives the measuring assembly to move through the linkage assembly to drive the measuring rope to be wound or loosened. The linkage assembly includes an active member, a driven member and a lead screw sliding member. The active member is arranged at the output end of the driving assembly. The driven member is coaxially fixed with the rope storage wheel. The driven member is installed on the lead screw sliding member so that the driven member slides on the lead screw sliding member when the driven member rotates under the drive of the active member.

[0007] A force-bearing plate is provided in the shell, and the measuring component is installed on the force-bearing plate;

[0008] The force sensing assembly comprises a plurality of force sensing units, and the force sensing units are distributed at different positions of the force bearing plate.

[0009] Further: it also includes a control subsystem, the control subsystem includes a signal processing module, a posture acquisition module, a force analysis module and a posture association module;

[0010] The signal processing module is connected to the force sensing units, receives the force feedback signals of each force sensing unit, and processes the force feedback signals through a preset signal processing strategy to obtain a force instantaneous signal;

[0011] The attitude acquisition module is used to acquire the pantograph attitude to obtain the pantograph attitude information, and to synchronize the pantograph attitude information with the force instantaneous signal;

[0012] The force analysis module is configured with a force analysis strategy, and the force analysis strategy is used to calculate and generate a balanced force signal according to the force instantaneous signal of the force sensing unit corresponding to each position;

[0013] The posture association module is used to associate the balanced force signal and the pantograph posture signal to generate pantograph quality analysis data.

[0014] Further: the signal processing strategy includes:

[0015] Step A1, processing the force measurement feedback signal through a low-pass filter to remove clutter;

[0016] Step A2, processing the force measurement feedback signal by using an FFT transformation algorithm;

[0017] Step A3, generating a force measurement synthesis matrix according to the motor position corresponding to each data in the force measurement feedback signal;

[0018] Step A4: construct a mapping function between the pantograph attitude and the motor position, and generate a mapping matrix between the pantograph attitude and the tension according to the mapping function;

[0019] Step A5: Perform Hilbert transform on the mapping matrix using a Hilbert transform algorithm to generate the instantaneous force signal.

[0020] Further: the force analysis strategy includes:

[0021] Step B1, obtaining the instantaneous force value of each force sensing unit at the target moment, and calculating the instantaneous force mean value;

[0022] Step B2, calculating the estimated force value of each force sensing unit by using a preset force estimation algorithm, and calculating the estimated deviation between the estimated force value and the instantaneous force value;

[0023] Step B3, calculating the deviation weight of each force sensing unit by a preset weight estimation algorithm;

[0024] Step B4: Calculate the fitted force value at the target moment by using a preset weighted balance algorithm, and generate a balanced force signal according to the fitted force value.

[0025] Further: the force estimation algorithm is: , , ,in, is the estimated force value of the force sensing unit, is the preset horizontal weight value, is the preset vertical weight value, is the estimated lateral unit deviation between the i-th force sensing unit and the target force sensing unit, is the estimated longitudinal unit deviation between the ith force sensing unit and the target force sensing unit, is the lateral distance deviation between the i-th force sensing unit and the target force sensing unit, is the longitudinal distance deviation between the ith force sensing unit and the target force sensing unit, U is the total number of other force sensing units, is the measured force value of the jth force sensing unit, is the measured force value of the i-th force sensing unit, is the lateral offset value between the jth force sensing unit and the ith force sensing unit, is the longitudinal offset value between the j-th force sensing unit and the i-th force sensing unit.

[0026] Further: the weight estimation algorithm is: ,in, is the deviation weight of the force sensing unit, is the measured force value of the force sensing unit, is the estimated force value of the jth force sensing unit, is the measured force value of the jth force sensing unit, and N is the total number of force sensing units.

[0027] Further: the weighted balancing algorithm is configured as follows: ,in, To fit the force value, is the fitting weight of the jth force sensing unit, , the fitting weight is negatively correlated with the fitting deviation value in the historical data, and the fitting deviation value represents the degree to which the measured force value of the force sensing unit deviates from the preset fitting curve, is the deviation weight of the jth force sensing unit, is the macro weight of the jth force sensing unit, , the macro weight is positively correlated with the mean value of the deviation weight of the force sensing unit in the historical data.

[0028] Furthermore: the number of the force measuring sensor units is set to 4.

[0029] Furthermore: it also includes a distance measuring component, which is used to detect the bow head height of the pantograph, and the pantograph posture information includes the bow head height.

[0030] A pantograph testing system includes a pantograph testing device as described above: it also includes an instruction generation subsystem, a dynamic control subsystem and an instruction execution subsystem, the instruction generation subsystem is configured with a test instruction set, the test instruction set is indexed by test information, a user inputs test information to call the corresponding test instruction set, the test instruction set includes a plurality of test instructions, and the test instructions are associated with each other through test trigger conditions; the dynamic control subsystem controls the corresponding pantograph and pantograph testing device according to the test instructions, and obtains the pantograph posture information and balanced force signal to generate the pantograph quality analysis data, the instruction execution subsystem is used to monitor the pantograph posture information and the balanced force signal, and judge whether the corresponding test trigger condition is met, and when the test trigger condition is met, call and execute the test instruction corresponding to the test trigger condition.

[0031] The technical effects of the present invention are mainly reflected in the following aspects: First, it avoids the frequent non-periodic changes in the corresponding relationship of the linear angular velocity due to the change in the stacking position of the wire rope, and the rate of change is not fixed. When the stacking is uneven, occasional position mutations or even reverse growth will occur. Its accuracy will increase with the increase of running time and the cumulative error, and there will be non-periodic and random changes. Therefore, structural adjustments are made to the rope wheel structure and operation mode, so that the rope wheel is always matched with the motor angular velocity during operation. Regardless of the speed of the motor, its structure limits the proportional relationship between the angle and the circumference, ensuring that when the rope wheel is in any position, there is no relative position change between the rope outlet and the rope wheel wire rope entry position, thereby ensuring that the position of the wire rope outlet and the position of the bow head connection point at the end of the wire rope are always relatively fixed and do not change. Second, through the distribution setting of the force sensing unit, the periodic error can be further corrected on this basis, making the force measurement data more accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 : An isometric view of the appearance structure of a pantograph testing device of the present invention;

[0033] Figure 2 : A sectional view of a pantograph testing device according to the present invention in the main viewing direction;

[0034] Figure 3 : Axonometric view of a driving assembly structure of a pantograph testing device of the present invention;

[0035] Figure 4 : A top view of a driving assembly of a pantograph testing device of the present invention;

[0036] Figure 5 : A control subsystem architecture schematic diagram of a pantograph testing device of the present invention.

[0037] 1. Shell; 11. Force plate; 12. Force adjustment pad; 2. Drive assembly; 21. Drive motor; 22. Reducer motor; 3. Linkage assembly; 31. Active member; 32. Driven member; 33. Lead screw slider; 4. Measuring assembly; 41. Rope storage wheel; 42. Measuring rope; 43. Rope outlet slide cover; 44. Rope pressing wheel; 5. Force sensing assembly; 51. Force sensing unit; 6. Distance measuring assembly; 61. Distance measuring slide cover; 62. Distance measuring sensor; 100. Control subsystem; 110. Signal processing module; 120. Posture acquisition module; 130. Force analysis module; 140. Posture association module; 200. Instruction generation subsystem; 300. Dynamic control subsystem; 400. Instruction execution subsystem. DETAILED DESCRIPTION

[0038] The specific implementation modes of the present invention are further described below in conjunction with the accompanying drawings to make the technical solutions of the present invention easier to understand and grasp.

[0039] Reference Figure 1-2 As shown, the present invention relates to a pantograph testing device, comprising a housing 1 and a driving component 2, a linkage component 3, a measuring component 4 and a force sensing component 5 arranged inside the housing 1;

[0040] The measuring assembly 4 includes a rope storage wheel 41 and a measuring rope 42 wound around the rope storage wheel 41;

[0041] Reference Figure 3 As shown, the driving assembly 2 drives the measuring assembly 4 to move through the linkage assembly 3 to drive the measuring rope 42 to be wound or unwound. The linkage assembly 3 includes an active member 31, a driven member 32 and a lead screw sliding member 33. The active member 31 is arranged at the output end of the driving assembly 2. The driven member 32 is coaxially fixed with the rope storage wheel 41. The driven member 32 is installed on the lead screw sliding member 33 so that the driven member 32 slides on the lead screw sliding member 33 when the driven member 31 rotates;

[0042] A force-bearing plate 11 is disposed in the housing 1 , and the measuring assembly 4 is mounted on the force-bearing plate 11 ; a force-bearing adjustment pad 12 is installed below the force-bearing plate 11 .

[0043] Reference Figure 4 As shown, the force sensing assembly 5 includes a plurality of force sensing units 51, and the force sensing units 51 are distributed at different positions of the force bearing plate 11. The number of the force sensing units 51 is set to 4.

[0044] It also includes a distance measuring component 6, which is used to detect the height of the pantograph head, and the pantograph attitude information includes the height of the pantograph head. First, the structural part of the present invention is described in detail: an emergency stop button is provided on the housing 1 to stop all mechanical actions of the present embodiment at any time to ensure the safety of personnel and equipment. A distance measuring slide cover 61 is also provided on the housing 1, and a slide cover handle is installed on the distance measuring slide cover 61 by a slide cover fastener. The slide cover can be slid open and closed, and the distance measuring sensor 62 bracket is firmly installed on the inner edge of the slide cover by a distance measuring sensor 62 bracket mounting piece, and the distance measuring sensor 62 is installed on the distance measuring sensor 62 bracket by a distance measuring sensor 62 mounting piece. When the distance measuring slide cover 61 is closed, the distance measuring sensor 62 can be effectively protected, which can prevent dust and prevent foreign objects from damaging the sensor. It can be easily opened when needed. After opening, the sensor inside can directly measure the current height of the pantograph head. This component is an important detection component for the pantograph raising and lowering time. The principle is that when the sliding cover is opened, the distance sensor 62 is just facing the bow head, and the height of the bow head can be determined. The housing 1 is also provided with a cable interface, and the cables of the electrical components in the box are connected from here. The housing 1 is made of aluminum except for the top cover. The entire housing is installed in a slot-type manner, and finally fastened with bolts at 8 corners. The force sensing unit 51 can be specifically set as a weighing sensor, a set of 4 pieces, using a 4-point weighing method, each point compensates and corrects the sampled data to finally generate a weight signal, which is the pantograph bow lifting force signal. A weighing sensor adjustment pad is installed at both ends of the sensor, and the sensor and the adjustment pad are fixedly installed with a weighing sensor mounting piece. In this way, when the measuring rope 42 is subjected to tension, it will act on the weighing sensor, and if the measuring angle is not vertical, the resulting slight deviation will be fed back to the different readings of the weighing sensor, and accurate weighing information can be obtained through subsequent algorithms. A distribution box is set inside the housing 1, and the power and signals of all components in the device are distributed in this distribution box. The housing 1 also includes a rope-out slide 43, which is installed in the same way as the distance-measuring slide 61, with a slight deviation in size. Its purpose is to pull out a force-measuring wire rope, which is connected to the pantograph head, so that the pantograph bow-lifting force is directly loaded on the weighing sensor in the device, and a four-point weighing method is used to calibrate each other without losing weighing data. Transmission mechanism assembly: This mechanism realizes that the wire rope retracting and releasing linear speed and the angular velocity of the motor-driven rope storage wheel 41 remain unchanged during the wire rope retracting and releasing process, and also realizes that no matter how the rope storage wheel 41 retracts and releases the wire rope, the rope-out position of the wire rope remains unchanged. Therefore, the drive assembly 2 includes a drive motor 21 and a reduction motor 22; when the corresponding relationship between the linear angular velocity remains unchanged, the linear velocity can be directly measured using the angular velocity, which is convenient for accurately calculating the height position of the pantograph, and at the same time, in conjunction with the tension signal, a force-displacement (FS) curve is realized.Similar structural products, due to the change of the stacking position of the wire rope, the corresponding relationship of the linear angular velocity will often change non-periodically, and the rate of change is not fixed. When the stacking is uneven, occasional position mutations or even reverse growth will occur. As the running time increases, the cumulative error increases, and there will be non-periodic and random changes in its accuracy. It can be used in occasions where the accuracy requirements are not high, but it is not suitable for this scenario. Due to its unique structural characteristics, the accuracy of the FS curve of this mechanism is much better than the accuracy of the ordinary rope storage wheel 41 for retracting and releasing the rope, and there is no random cumulative error during its operation. Specifically, it is a mounting base plate, and the various components of the transmission mechanism are mounted on this base plate. The active part 31 is set as a long gear, which is mounted on the mounting base plate through a long gear fixing seat and fasteners. There are bearings on both sides of the long gear to ensure smooth operation. There are couplings on both ends, one end is connected to the encoder, and the other end is connected to the drive motor 21 and the reducer. The drive motor 21 and the reducer are mounted on the motor mounting seat and fasteners. In this way, the motor can drive the long gear to rotate. The rope storage wheel 41 and the ball screw assembly include a driven gear on one side of the rope storage wheel 41, that is, a driven member 32, which is meshed with the long gear, and the long gear drives the rope storage wheel 41 and the ball screw assembly to move. When the lead screw slider 33 rotates, the driven member 32 translates at the same time. In this way, no matter how many turns are rotated, the rope output position and rope output direction of the measuring rope 42 will not change. The measuring assembly 4 also includes a rope pressing wheel 44, which is installed on the mounting base plate using a rope pressing wheel 44 fastener. The rope pressing wheel 44 always presses on the rope storage wheel 41 and the ball screw assembly. The wire rope is pulled out from the intersection of the two circular contours of the rope storage wheel 41 and the ball screw assembly at the rope pressing wheel 44. No matter how the rope storage wheel 41 and the ball screw assembly rotate, the relative position of the wire rope pull-out position and the mounting base plate remains unchanged, ensuring the uniqueness of the wire rope position and ensuring that the measured tension is not affected by the angular component. The end of the wire rope is connected to the wire rope connector, which adopts a three-point steel ball clip structure to ensure that the wire rope will not be automatically pulled out when subjected to force. There is a threaded hole at the end of the wire rope connector. The hook is directly screwed into the threaded hole to ensure a reliable connection between the hook and the wire rope connector.

[0045] Ordinary multi-turn wire rope pulleys will have the problem of the motor angular velocity and the wire rope linear velocity being out of sync, especially when the number of turns changes, the wire rope linear velocity and the motor angular velocity have no corresponding proportional relationship. Therefore, a single-turn multi-groove rope pulley is specially designed to ensure the corresponding relationship between the wire rope linear velocity and the motor angular velocity.

[0046] At the same time, since the wire-winding position of the ordinary wire-winding device structure is constantly changing, the position of the wire rope outlet and the bow head connection point at the end of the wire rope changes non-periodically. Therefore, structural adjustments are made to the rope pulley structure and operation mode to ensure that the rope pulley always matches the motor angular velocity during operation. Regardless of the speed of the motor, its structure limits the proportional relationship between the angle of rotation and the circumference, ensuring that when the rope pulley is in any position, there is no relative position change between the rope outlet and the wire rope entry position of the rope pulley, thereby ensuring that the position of the wire rope outlet and the bow head connection point at the end of the wire rope are always relatively fixed and do not change.

[0047] The above two unique structures ensure the matching of the equipment's motor angular velocity, wire rope linear velocity and bow head real-time height, thus ensuring the accuracy of the data.

[0048] Reference Figure 5 As shown, it also includes a control subsystem 100, and the control subsystem 100 includes a signal processing module 110, a posture acquisition module 120, a force analysis module 130 and a posture association module 140;

[0049] The signal processing module 110 is connected to the force sensing unit 51, receives the force feedback signal of each force sensing unit 51, and processes the force feedback signal through a preset signal processing strategy to obtain a force instantaneous signal;

[0050] The signal processing strategy includes:

[0051] Step A1: Process the force measurement feedback signal through a low-pass filter to remove clutter; remove high-frequency clutter to make the data more accurate.

[0052] Step A2, processing the force measurement feedback signal through the FFT transformation algorithm; the FFT transformation can greatly reduce the amount of calculation, extract the signal through the numerical frame extraction method, and ensure that the data of each sensor belongs to the same time.

[0053] Step A3, generating a force measurement synthesis matrix according to the motor position corresponding to each data in the force measurement feedback signal;

[0054] Step A4: construct a mapping function between the pantograph attitude and the motor position, and generate a mapping matrix between the pantograph attitude and the tension according to the mapping function; since the relationship between the pantograph attitude and the motor position at each time is known, the relationship between the tension and the pantograph attitude can be constructed through the mapping matrix.

[0055] Step A5: Perform Hilbert transform on the mapping matrix through the Hilbert transform algorithm to generate the instantaneous force signal. The pantograph posture relationship corresponding to each moment of force can construct the corresponding instantaneous force signal.

[0056] For the tension measurement position, a servo motor is used to control the rope storage wheel 41. To ensure control accuracy and obtain complete data, a communication control servo driver is used to ensure that all motion trajectory data are collected. The servo driver and PLC use the Profinet network for data exchange to ensure the timeliness and accuracy of high-speed data transmission. At the same time, the speed information of the servo encoder is obtained to perform speed closed-loop control. An external encoder is added to perform negative feedback control. The controller controls the information on both the driver and the encoder at the same time, and optimizes the algorithm to ensure that the pantograph lifting speed is fully controlled.

[0057] The information sampled by the tension sensor is converted into a standard 4-20mA signal for collection. The collected tension signal is first low-pass filtered by the controller to remove high-frequency clutter, and then FFT transformation is performed. In conjunction with the speed loop signal, the position-force relationship is obtained, and the data is combined into a matrix. Matrix operations are performed in conjunction with the pantograph lifting and lowering. The tension relationship of each iso-high point is obtained after optimization and calculation by a special algorithm, and then Hilbert transformation is performed to deeply analyze the mechanical and position information, thereby obtaining detailed information on the pantograph action, and then the performance of the pantograph is judged. Ensure that each loaded pantograph is in a qualified state. Ensure the stability and reliability of vehicle operation.

[0058] The present invention needs to focus on solving the matching problem of the motor angular velocity, the wire rope linear velocity and the real-time height of the bow head when drawing the force-displacement (FS) curve.

[0059] The Hilbert transform method for the sampled signal is as follows:

[0060] The fast Hilbert transform of a function x(t) is defined as follows: , according to the properties of Fourier transform, the Fourier transform of the Hilbert transform of x(t) can be expressed as: ,in is a Fourier transform pair, and ,in accordance with The FFT routine for the Fourier transform pair takes the discrete Hilbert transform and the steps are as follows:

[0061] Perform Fourier transform on the input sequence X , assuming the DC component is zero , if Y is an even sequence, set the Nyquist component to zero , so that the positive harmonics are multiplied by -j.

[0062] Multiply the negative harmonics by j. Call the new sequence H, which is ,

[0063] Perform an inverse Fourier transform on H to obtain the Hilbert transform of X.

[0064] After the sampling signal undergoes Hilbert transform, its instantaneous signals are clearly defined, and the peak data of each force during the pantograph test can be fully obtained, with much better accuracy than the untransformed data. It also has a positive effect on the time domain analysis of the displacement S.

[0065] After adopting the software and hardware combination of the present invention, the accuracy of pantograph status measurement is greatly improved. At the same time, the pantograph lifting force requirement can be judged more accurately. Optimizing the lifting force can help reduce the wear of the carbon slide plate, reduce the arcing phenomenon between the pantograph and the contact network, reduce damage to the line contact network, extend its service life, reduce maintenance costs, and comprehensively improve the positive benefits to users.

[0066] In terms of fault analysis and force transformation, any change in the pantograph driving force can be reflected in the time domain analysis due to the Hilbert transform, thus providing a more scientific basis for emergency treatment methods after drive failure.

[0067] The attitude acquisition module 120 is used to obtain the pantograph attitude to obtain the pantograph attitude information, and to synchronize the pantograph attitude information and the instantaneous force signal; the purpose of this time synchronization is to associate the pantograph state and the corresponding instantaneous force signal, so that each conversion result can be used to draw the corresponding force analysis curve through the timestamp.

[0068] The force analysis module 130 is equipped with a force analysis strategy, which is used to calculate and generate a balanced force signal according to the instantaneous force signal of the force sensing unit 51 corresponding to each position; the purpose of the force balance signal is to avoid sensor errors and reduce the problem of inconsistent force measurement results caused by the inclination angle due to the certain misalignment space of the measuring rope 42. If only the first problem is addressed, it is actually only necessary to synchronize the signals and calculate the average value. If it is the second problem, then it is necessary to analyze the situation and determine whether the detection result of the force sensing unit 51 should be "trusted". The specific design is as follows:

[0069] The force analysis strategy includes:

[0070] Step B1, obtaining the instantaneous force value of each force sensing unit 51 at the target moment, and calculating the instantaneous force mean value;

[0071] Step B2: Calculate the estimated force value of each force sensing unit 51 by using a preset force estimation algorithm, and calculate the estimated deviation between the estimated force value and the instantaneous force value; the force estimation algorithm is: , , ,in, is the estimated force value of the force sensing unit, is the preset horizontal weight value, is the preset vertical weight value, is the estimated lateral unit deviation between the i-th force sensing unit and the target force sensing unit, is the estimated longitudinal unit deviation between the ith force sensing unit and the target force sensing unit, is the lateral distance deviation between the i-th force sensing unit and the target force sensing unit, is the longitudinal distance deviation between the ith force sensing unit and the target force sensing unit, U is the total number of other force sensing units, is the measured force value of the jth force sensing unit, is the measured force value of the i-th force sensing unit, is the lateral offset value between the jth force sensing unit and the ith force sensing unit, is the longitudinal offset value between the jth force sensing unit and the ith force sensing unit. This step is to determine the offset, so as to calculate whether the actual measurement result of the sensor at this position is reliable according to the offset.

[0072] Step B3, calculating the deviation weight of each force sensing unit by a preset weight estimation algorithm; the weight estimation algorithm is: ,in, is the deviation weight of the force sensing unit, is the measured force value of the force sensing unit, is the estimated force value of the jth force sensing unit, is the measured force value of the jth force sensor unit, and N is the total number of force sensor units. If the offset is larger, the measured result is less reliable, and the corresponding deviation weight is larger.

[0073] Step B4: Calculate the fitted force value at the target moment by using a preset weighted balance algorithm, and generate a balanced force signal according to the fitted force value. The weighted balance algorithm is configured as follows: ,in, To fit the force value, is the fitting weight of the jth force sensing unit, , the fitting weight is negatively correlated with the fitting deviation value in the historical data, and the fitting deviation value represents the degree to which the measured force value of the force sensing unit deviates from the preset fitting curve, is the deviation weight of the jth force sensing unit, is the macro weight of the jth force sensing unit, , the macro weight is positively correlated with the mean value of the deviation weight of the force sensing unit in the historical data. Based on the deviation weight and according to the historical deviation weight, if it is only an offset, the historical deviation weight will not change too much, and only the deviation weight changes this time, then The effect of is small, and the value is close to 0. If the sensor has a hardware error, this error will be reflected in The numerical value of the fitting force will be affected.

[0074] The posture association module 140 is used to associate the balanced force signal and the pantograph posture signal to generate pantograph quality analysis data.

[0075] A pantograph testing system includes a pantograph testing device as described above: it also includes an instruction generation subsystem 200, a dynamic control subsystem 300 and an instruction execution subsystem 400, the instruction generation subsystem 200 is configured with a test instruction set, the test instruction set is indexed by test information, a user inputs test information to call the corresponding test instruction set, the test instruction set includes a plurality of test instructions, and the test instructions are associated with each other through test trigger conditions; the dynamic control subsystem 300 controls the corresponding pantograph and pantograph testing device according to the test instructions, and obtains the pantograph posture information and the balanced force signal to generate the pantograph quality analysis data, the instruction execution subsystem 400 is used to monitor the pantograph posture information and the balanced force signal, and determine whether the corresponding test trigger condition is met, and when the test trigger condition is met, call and execute the test instruction corresponding to the test trigger condition. Since the test content of general test systems is fixed, such as the force test of raising and lowering the bow, but since abnormal data will be tested during the force process, the more optimized processing strategy at this time should be to change the test instructions and replace them with more targeted instructions to determine the abnormal situation. In this way, the situation can be checked step by step. For example, the test instructions can be concentrated on different postures for testing. If an abnormality is found in one posture, in order to determine the type of abnormality, the speed of the test in this posture can be changed, or other postures related to the suspected abnormal results can be tested, so as to more specifically determine and troubleshoot the abnormality. For example, if an abnormality occurs in the 5-unit bow raising position, it is regarded as the test trigger condition is met. At this time, the bow raising test can be performed at a more extreme position to determine whether the bow raising drive part is affected.

[0076] Of course, the above are only typical examples of the present invention. In addition, the present invention may also have many other specific implementations. All technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

Claims

1. A pantograph testing device, Features: It includes a housing and a driving component, a linkage component, a measuring component and a force sensing component arranged inside the housing; The measuring assembly comprises a rope storage wheel and a measuring rope wound around the rope storage wheel; The driving assembly drives the measuring assembly to move through the linkage assembly to drive the measuring rope to be wound or loosened. The linkage assembly includes an active member, a driven member and a lead screw sliding member. The active member is arranged at the output end of the driving assembly. The driven member is coaxially fixed with the rope storage wheel. The driven member is installed on the lead screw sliding member so that the driven member slides on the lead screw sliding member when the driven member rotates under the drive of the active member. A force-bearing plate is provided in the shell, and the measuring component is installed on the force-bearing plate; The force sensing assembly comprises a plurality of force sensing units, and the force sensing units are distributed at different positions of the force bearing plate; It also includes a control subsystem, which includes a signal processing module, a posture acquisition module, a force analysis module and a posture association module; The signal processing module is connected to the force sensing units, receives the force feedback signals of each force sensing unit, and processes the force feedback signals through a preset signal processing strategy to obtain a force instantaneous signal; The attitude acquisition module is used to acquire the pantograph attitude to obtain the pantograph attitude information, and to synchronize the pantograph attitude information with the force instantaneous signal; The force analysis module is configured with a force analysis strategy, and the force analysis strategy is used to calculate and generate a balanced force signal according to the force instantaneous signal of the force sensing unit corresponding to each position; The posture association module is used to associate the balanced force signal and the pantograph posture signal to generate pantograph quality analysis data; The force analysis strategy includes: Step B1, obtaining the instantaneous force value of each force sensing unit at the target moment, and calculating the instantaneous force mean value; Step B2, calculating the estimated force value of each force sensing unit by using a preset force estimation algorithm, and calculating the estimated deviation between the estimated force value and the instantaneous force value; Step B3, calculating the deviation weight of each force sensing unit by a preset weight estimation algorithm; Step B4: Calculate the fitted force value at the target moment by using a preset weighted balance algorithm, and generate a balanced force signal according to the fitted force value; The force estimation algorithm is: , , ,in, is the estimated force value of the force sensing unit, is the preset horizontal weight value, is the preset vertical weight value, is the estimated lateral unit deviation between the i-th force sensing unit and the target force sensing unit, is the estimated longitudinal unit deviation between the ith force sensing unit and the target force sensing unit, is the lateral distance deviation between the i-th force sensing unit and the target force sensing unit, is the longitudinal distance deviation between the ith force sensing unit and the target force sensing unit, U is the total number of other force sensing units, is the measured force value of the jth force sensing unit, is the measured force value of the jth force sensing unit, is the lateral offset value between the jth force sensing unit and the ith force sensing unit, is the longitudinal offset value between the j-th force sensing unit and the i-th force sensing unit; The weight estimation algorithm is: ,in, is the deviation weight of the force sensing unit, is the measured force value of the force sensing unit, is the estimated force value of the jth force sensing unit, is the measured force value of the jth force sensing unit, and N is the total number of force sensing units; The weighted balancing algorithm is configured as follows: ,in, To fit the force value, is the fitting weight of the jth force sensing unit, , the fitting weight is negatively correlated with the fitting deviation value in the historical data, and the fitting deviation value represents the degree to which the measured force value of the force sensing unit deviates from the preset fitting curve, is the deviation weight of the jth force sensing unit, is the macro weight of the jth force sensing unit, , the macro weight is positively correlated with the mean value of the deviation weight of the force sensing unit in the historical data.

2. A pantograph testing device as claimed in claim 1, Features: The signal processing strategy includes: Step A1, processing the force measurement feedback signal through a low-pass filter to remove clutter; Step A2, processing the force measurement feedback signal by using an FFT transformation algorithm; Step A3, generating a force measurement synthesis matrix according to the motor position corresponding to each data in the force measurement feedback signal; Step A4: construct a mapping function between the pantograph attitude and the motor position, and generate a mapping matrix between the pantograph attitude and the tension according to the mapping function; Step A5: Perform Hilbert transform on the mapping matrix using a Hilbert transform algorithm to generate the instantaneous force signal.

3. A pantograph testing device as claimed in claim 1, Features: The number of the force sensing units is set to 4.

4. A pantograph testing device as claimed in claim 2, Features: It also includes a distance measuring component, which is used to detect the bow head height of the pantograph, and the pantograph posture information includes the bow head height.

5. A pantograph testing system, comprising a pantograph testing device as claimed in any one of claims 1 to 4, Features: It also includes an instruction generation subsystem, a dynamic control subsystem and an instruction execution subsystem. The instruction generation subsystem is configured with a test instruction set. The test instruction set is indexed by test information. A user inputs test information to retrieve a corresponding test instruction set. The test instruction set includes a number of test instructions. The test instructions are associated with each other through test trigger conditions. The dynamic control subsystem controls the corresponding pantograph and pantograph testing device according to the test instructions, and obtains the pantograph posture information and the balanced force signal to generate the pantograph quality analysis data. The instruction execution subsystem is used to monitor the pantograph posture information and the balanced force signal to determine whether the corresponding test trigger conditions are met. When the test trigger conditions are met, the test instructions corresponding to the test trigger conditions are called and executed.

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