A track inclination detection device

Abstract

The present invention discloses a track inclination detection device, which relates to the field of track tamping vehicle sensors, including a mounting bracket crossbeam, a vibration sensor, a vibration compensation mechanism and an angle sensor; the vibration sensor is arranged on the mounting bracket crossbeam; the vibration compensation mechanism is arranged on the mounting bracket crossbeam, and the vibration compensation mechanism can apply vibration to the mounting bracket crossbeam; the angle sensor is an acceleration sensor, and the angle sensor is arranged on the mounting bracket crossbeam for detecting the inclination of the mounting bracket crossbeam; the vibration sensor and the vibration compensation mechanism are electrically connected to a controller, and the controller is used to receive vibration data output by the vibration sensor, and control the vibration compensation mechanism to vibrate in reverse according to the part of the vibration data whose vibration frequency is higher than the set frequency. The present invention has the advantages of good detection accuracy and good sensor response performance under vibration environment.

Description

Technical Field

[0001] The invention relates to the field of track tamping vehicle sensors, and in particular to a track inclination detection device. Background Art

[0002] A tamping vehicle is a large-scale road maintenance machine. During operation, the electronic pendulum sensor installed on the tamping vehicle measures the height difference between the left and right tracks. The specific principle is to measure the inclination angle between the line connecting the left and right tracks and the vertical plane. Since the spacing between standard tracks is fixed, the height difference between the left and right tracks can be converted through this inclination angle.

[0003] At present, most electronic pendulum sensors installed on tamping vehicles use the swing of the pendulum under the action of gravity to measure the horizontal level of the track. For example, the Chinese invention patent with patent announcement number CN2869780Y discloses an electronic pendulum sensor. When the measured object is tilted or displaced, the pendulum swings under the action of gravity and physical damping mechanism, driving the transmission mechanism to make the positioner generate a corresponding voltage signal, and then the horizontal level value of the track is calculated through the signal processing circuit unit. This kind of electronic pendulum has problems such as large size, heavy weight, regular replacement of damping silicone oil, and fixed and inflexible response time.

[0004] In order to overcome the problems existing in the traditional electronic pendulum, a method of measuring the inclination angle using an acceleration chip has been developed based on the traditional electronic pendulum. For example, the Chinese invention patent with publication number CN111521156A discloses a small intelligent angle sensor, an inclination measurement device based on an acceleration + gyroscope chip, which uses a dual filter of a Butterworth filter and a Kalman filter to perform low-pass filtering on vibration.

[0005] In the above-mentioned related technologies, both the electronic pendulum and the acceleration sensor need to be low-pass filtered so that the low-frequency vibration generated by the height difference of the track can be recorded by the sensor, while the high-frequency vibration caused by the vehicle driving is filtered out. Low-pass filtering will delay the response speed of the system and reduce the response performance of the inclination detection device. Summary of the invention

[0006] In order to solve the defects of poor detection accuracy and poor sensor response performance of the inclination detection sensor in the prior art under a vibration environment, the present invention provides a track inclination detection device.

[0007] The above technical objectives of the present invention are achieved through the following technical solutions:

[0008] The present invention provides a track inclination detection device, the inclination detection device comprises a mounting bracket crossbeam, a vibration sensor, a vibration compensation mechanism and an angle sensor; the mounting bracket crossbeam is used to be fixed to a tamping vehicle and parallel to and across the track;

[0009] The vibration sensor is arranged on the mounting bracket cross beam, and is used to detect the vibration of the mounting bracket cross beam; the vibration compensation mechanism is arranged on the mounting bracket cross beam, and the vibration compensation mechanism can apply vibration to the mounting bracket cross beam; the angle sensor is an acceleration sensor, and the angle sensor is arranged on the mounting bracket cross beam, and is used to detect the inclination angle of the mounting bracket cross beam;

[0010] The vibration sensor and the vibration compensation mechanism are electrically connected to a controller, and the controller receives vibration data output by the vibration sensor; defines the part of the vibration data whose vibration frequency is higher than the set frequency as the high-frequency component, and the part whose vibration frequency does not exceed the set frequency as the low-frequency component, and the controller controls the vibration compensation mechanism to vibrate in the opposite direction according to the high-frequency component to eliminate the vibration of the mounting bracket beam.

[0011] In this solution, the mounting bracket crossbeam is parallel to the track. By detecting the angle change of the mounting bracket crossbeam through the angle sensor, the change of the track inclination angle on the left and right sides of the track can be known, and the height difference on the left and right sides of the track can be converted according to the track width. The angle sensor is an acceleration sensor. By measuring the acceleration component of the mounting bracket crossbeam in the direction perpendicular to the upper and lower surfaces of the mounting bracket crossbeam, the inclination angle of the mounting bracket crossbeam can be obtained. The specific principle is: the acceleration component perpendicular to the upper and lower surfaces of the mounting bracket crossbeam comes from the gravity acceleration G, and the magnitude of this component is Gcosθ, where θ is the angle between the acceleration component and the gravity direction, that is, the inclination angle of the mounting bracket crossbeam relative to the horizontal plane, so that the inclination angle on the left and right sides of the track can be obtained.

[0012] In order to reduce the interference of the vibration of the tamping machine during driving and working on the angle sensor, the vibration sensor is used to obtain the vibration of the mounting bracket beam in this solution. The vibration includes the low-frequency component caused by the change of track inclination and the high-frequency component caused by driving. The controller controls the vibration compensation mechanism to vibrate in the opposite direction according to the part of the vibration data with a frequency higher than the set frequency (that is, the high-frequency component), thereby offsetting the high-frequency component caused by driving, so that the mounting bracket beam is only affected by the low-frequency component (less than the vibration of the set frequency part) caused by the change of track inclination. In this way, the influence of the vibration of the tamping machine driving on the angle detection is reduced. By measuring and compensating the vibration of the mounting bracket beam, the angle sensor is in a relatively stable state, which greatly improves the measurement accuracy. Compared with the traditional electronic pendulum angle detection device, there is no need to set damping silicone oil in this solution, eliminating the replacement cost caused by silicone oil contamination and deterioration. Compared with the traditional acceleration chip, the angle sensor in this solution does not need to set a low-pass filter, which greatly improves the response performance of the angle sensor, reduces the response time, and improves the accuracy of track angle detection.

[0013] Furthermore, the vibration sensor is an acceleration sensor, which is used to detect the acceleration of the mounting bracket beam, and the vibration data includes the acceleration acquired by the vibration sensor in a direction perpendicular to the upper and lower surfaces of the mounting bracket beam.

[0014] In this solution, the vibration sensor also uses an acceleration sensor. The vibration sensor detects the acceleration of the mounting bracket beam, and uses the acceleration in the direction perpendicular to the upper and lower surfaces of the mounting bracket beam as vibration data to reflect the vibration condition of the mounting bracket beam. It has the advantages of fast response and small delay, which makes it easy to perform PID control with the vibration data as the control target, and finally makes the vibration data tend to a stable value (that is, the low-frequency component remaining after offsetting the high-frequency component), which makes it easier for the angle sensor to detect the track inclination.

[0015] Furthermore, one vibration sensor is provided at each end of the mounting bracket crossbeam, and one vibration compensation mechanism is also provided at each end of the mounting bracket crossbeam; and the angle sensor is provided at the midpoint of the line connecting the two vibration sensors.

[0016] In this solution, a vibration sensor is set at each end of the mounting bracket beam, and two vibrators respectively detect the vibrations at the two ends of the mounting bracket beam, and compensate the high-frequency components at the two ends of the mounting bracket beam through two vibration compensation mechanisms, thereby making the compensation effect of the high-frequency components of the mounting bracket beam better. At the same time, the angle sensor is set at the midpoint of the line connecting the two vibration sensors, and the high-frequency components of the mounting bracket beam on both sides of the angle sensor can be evenly offset, further reducing the influence of the high-frequency components on the angle sensor, thereby ensuring the accuracy of track inclination detection.

[0017] Furthermore, the vibration compensation mechanism includes a driving member, a mechanical transmission device and a vibration block, the driving member is electrically connected to the controller, and the driving member is connected to the vibration block through the mechanical transmission device; the controller can control the driving member to drive the vibration block to vibrate in a direction perpendicular to the upper and lower surfaces of the mounting bracket beam.

[0018] In this solution, in the vibration compensation mechanism, the driving member drives the vibration block to move through the mechanical transmission device, thereby generating vibrations perpendicular to the upper and lower surfaces of the mounting bracket beam, thereby being able to offset the vibration components perpendicular to the upper and lower surfaces of the mounting bracket beam, while the vibration components in other directions do not affect the angle sensor's measurement of the inclination angle, so there is no need to compensate. Therefore, the vibration compensation structure in this solution is simple and reasonable, and can adapt to the compensation of vibrations on the mounting bracket beam and the angle sensor's measurement of the inclination angle.

[0019] Furthermore, the driving component includes a servo motor, the controller is electrically connected to a motor drive, and the motor drive is electrically connected to the servo motor.

[0020] In this solution, the driving member includes a servo motor, which facilitates the controller to perform servo control through pulses, thereby facilitating precise control of the vibration block to vibrate so as to offset and compensate for the high-frequency components.

[0021] Furthermore, the vibration sensor is electrically connected to a high-pass filter, and the high-pass filter is electrically connected to the controller; the high-pass filter can allow the high-frequency component to pass through.

[0022] In this solution, a high-pass filter is used to allow components of vibration data with vibration frequencies higher than the set frequency (i.e., high-frequency components) to pass through, while low-frequency components lower than the set frequency are filtered out. This allows the vibration compensation mechanism to compensate for the vibration of the mounting bracket beam without offsetting the low-frequency vibration caused by the track inclination, thereby ensuring that the angle sensor can normally detect the track inclination.

[0023] Furthermore, the controller outputs a current control signal according to the high-frequency component, and the current control signal controls the motor driver to drive the servo motor to drive the vibration block to vibrate.

[0024] In this scheme, the controller outputs the current control signal of the servo motor with the high-frequency component of the vibration data as the control target, and controls the motor drive to drive the servo motor according to the current control signal, thereby driving the vibration of the vibration block vibration compensation mounting bracket beam, thereby realizing the closed-loop adjustment of high-frequency component - current information - driving power - vibration compensation of vibration block - compensated high-frequency component, so that the high-frequency component can be compensated to zero in the end.

[0025] Furthermore, the motor driver is a mosfet power module or an igbt power module.

[0026] In this solution, the motor drive uses a MOSFET power module or an IGBT power module to achieve fast response and facilitate the controller to output current control signals for control.

[0027] Furthermore, the set frequency is 8-10 Hz.

[0028] In this scheme, based on the railway track operation design, the rail inclination angle changes generally by 0.5-1Hz, while the vibration of the tamping vehicle during operation is much greater than 10Hz. Therefore, when the frequency is set to 8-10Hz, it is possible to accurately distinguish the high-frequency component of the vibration on the mounting bracket beam caused by the tamping vehicle operation and the low-frequency component caused by the track height difference.

[0029] Furthermore, the controller includes an MCU processor, and the MCU processor is electrically connected to the vibration sensor and the vibration compensation mechanism.

[0030] In this solution, the controller includes an MCU processor, which has a simple structure, mature technology, and low cost, and meets the feedback regulation requirements of this solution.

[0031] In summary, the present invention has the following beneficial effects:

[0032] In the present invention, the controller controls the vibration compensation mechanism to vibrate in reverse according to the high-frequency components in the vibration data, thereby offsetting the high-frequency vibration caused by the driving operation, and the angle sensor detects the inclination according to the remaining low-frequency components caused by the change in track inclination. This reduces the impact of the vibration of the tamping vehicle's driving operation on the angle detection, and by measuring and compensating for the vibration of the mounting bracket beam, the angle sensor is in a relatively stable state, which greatly improves the measurement accuracy; compared with the traditional electronic pendulum angle detection device, there is no need to set damping silicone oil in this solution, eliminating the replacement cost caused by silicone oil contamination and deterioration; and compared with the traditional acceleration chip, the angle sensor in this solution does not need to set a low-pass filter, which greatly improves the response performance of the angle sensor, reduces the response time, and improves the accuracy of track angle detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of an electronic pendulum sensor in the prior art.

[0034] Figure 2 It is a schematic diagram of the principle of the acceleration chip in the prior art.

[0035] Figure 3 It is a structural schematic diagram of an inclination detection device according to an embodiment of the present invention.

[0036] Figure 4 It is a schematic structural diagram of a vibration compensation mechanism according to an embodiment of the present invention.

[0037] Figure 5 It is a schematic diagram of the vibration compensation structure of the tilt detection device according to one embodiment of the present invention.

[0038] Figure 6 It is a schematic diagram of the vibration compensation control logic of the tilt detection device according to an embodiment of the present invention.

[0039] Figure 7 Schematic diagram of PID control for vibration compensation according to an embodiment of the present invention

[0040] In the figure:

[0041] 1000, inclination detection device; 100, mounting bracket crossbeam; 200, vibration sensor; 300, vibration compensation mechanism; 310, driving member; 320, mechanical transmission device; 330, vibration block; 400, controller; 500, angle sensor; 600, high-pass filter; 700, motor drive; 2000, electronic pendulum sensor; 2100, sealed chamber; 2200, pendulum; 3000, acceleration chip. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] Reference Figure 1 The existing electronic pendulum sensor 2000 based on the gravity pendulum 2200 includes a sealed chamber 2100 and a pendulum 2200. The sealed chamber 2100 is filled with damping silicone oil, and the pendulum 2200 is installed in the sealed chamber 2100. A physical level bubble is installed on the electronic pendulum sensor 2000, which can be used as a reference value for the horizontal level of the track during installation and perform zero point calibration on the sensor on the system side. When the left and right tracks of the track fluctuate to form a height difference, due to the effect of gravity, the pendulum 2200 in the sealed chamber 2100 will swing left and right under the effect of the damping silicone oil. The swing amplitude drives the sliding block of the potentiometer through the transmission mechanism to change the output voltage amplitude of the potentiometer. The angle of the pendulum 2200 can be obtained through the processing circuit. Since the spacing of the standard track is a fixed value of 1435mm, the height difference between the left and right tracks can be converted through the angle. This type of sensor has the disadvantages of being large in size, heavy in weight, and requiring regular replacement of damping silicone oil. In addition, since the pendulum 2200 is immersed in the damping silicone oil, the response time of the sensor is fixed, making it difficult to flexibly adjust to suit different track conditions.

[0044] Reference Figure 2 , based on the angle sensor of the acceleration chip 3000, the acceleration in each direction is detected by the acceleration chip 3000. Ideally, the tamping vehicle moves in a straight line at a uniform speed on the track, and the acceleration detected by the acceleration chip 3000 is the local gravity acceleration G. When the left and right tracks of the track fluctuate to form a height difference, the acceleration chip 3000 tilts with the sensor, so the acceleration value measured in the direction perpendicular to the acceleration chip will be Gcosθ, and the inclination angle θ can be obtained, thereby calculating the height difference between the left and right tracks.

[0045] Since the real tamping vehicle has large vibration interference during driving and tamping operations, and the bandwidth of the conventional accelerometer chip 3000 covers the frequency band of vibration interference, it is necessary to use a Butterworth filter combined with gyroscope data and use Kalman filtering to extract the height difference between the left and right tracks from the signal (that is, low-pass filtering to separate the track inclination data). The setting of the filter will greatly reduce the response performance of the accelerometer chip 3000 and affect the detection of the track inclination.

[0046] Reference Figures 3 to 5 The present invention provides a track inclination detection device 1000, which includes a mounting bracket beam 100, a vibration sensor 200, a vibration compensation mechanism 300, a controller 400, and an angle sensor 500. The mounting bracket beam 100 is fixed to a tamping vehicle for installation of the vibration sensor 200, the vibration compensation mechanism 300, and the angle sensor 500. The vibration sensor 200 is used to detect the vibration of the mounting bracket beam 100, the controller 400 controls the vibration of the vibration compensation mechanism 300 according to the vibration data detected by the vibration sensor 200 to compensate for the vibration of the mounting bracket beam 100, and the angle sensor 500 is used to detect the inclination of the mounting bracket beam 100.

[0047] The mounting bracket crossbeam 100 is parallel to and spans the track, so that the left and right inclinations of the track can be known by detecting the inclination of the mounting bracket crossbeam 100 . The vibration sensor 200 , the vibration compensation mechanism 300 and the angle sensor 500 are all mounted on the mounting bracket crossbeam 100 .

[0048] The angle sensor 500 is used to detect the inclination of the mounting bracket beam 100. By detecting the angle change of the mounting bracket beam 100 through the angle sensor 500, the change of the track inclination on the left and right sides of the track can be known, and the height difference on the left and right sides of the track can be converted according to the track width.

[0049] Specifically, in this embodiment, the angle sensor 500 is an acceleration sensor. By measuring the component of the acceleration of the mounting bracket beam 100 in the direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100 (i.e., the Z-axis direction in the figure), the inclination angle of the mounting bracket beam 100 can be obtained. The specific principle is: the acceleration component perpendicular to the upper and lower surfaces of the mounting bracket beam 100 comes from the gravitational acceleration G, and the magnitude of this component is Gcosθ, where θ is the angle between the acceleration component and the direction of gravity, that is, the inclination angle of the mounting bracket beam 100 relative to the horizontal plane, so that the inclination angles on the left and right sides of the track can be obtained.

[0050] The vibration sensor 200 is used to detect the vibration of the mounting bracket beam 100, and the vibration compensation mechanism 300 can apply vibration to the mounting bracket beam 100. The vibration sensor 200 and the vibration compensation mechanism 300 are electrically connected to the controller 400. The controller 400 is used to receive the vibration data output by the vibration sensor 200, and control the vibration compensation mechanism 300 to vibrate in the opposite direction according to the part of the vibration data whose vibration frequency is higher than the set frequency, so as to eliminate the vibration of the mounting bracket beam 100.

[0051] In this embodiment, the vibration data of the mounting bracket crossbeam 100 is obtained through the vibration sensor 200, and the part of the vibration data with a vibration frequency higher than the set frequency is defined as a high-frequency component, and the part of the vibration frequency not exceeding the set frequency is defined as a low-frequency component. The low-frequency component is the vibration component caused by the change of track inclination, and the high-frequency component is the vibration component caused by driving. The controller 400 controls the vibration compensation mechanism 300 to vibrate in the opposite direction according to the part of the vibration data with a frequency higher than the set frequency (that is, the high-frequency component), thereby offsetting the high-frequency component in the vibration caused by driving, and only retaining the low-frequency component (vibration less than the set frequency part) caused by the change of track inclination.

[0052] Among them, the set frequency is a value greater than the frequency of track inclination change and less than the vibration frequency of the tamping vehicle. Specifically in this embodiment, the set frequency of the vibration of the mounting bracket crossbeam 100 is 8-10Hz. Based on the design of railway track operation, the change of the track inclination is generally 0.5-1Hz, and the vibration of the tamping vehicle during operation is much greater than 10Hz. Therefore, setting the frequency to 8-10Hz can accurately distinguish the high-frequency component generated by the tamping vehicle operation and the low-frequency component generated by the track height difference in the vibration on the mounting bracket crossbeam 100.

[0053] Therefore, the vibration sensor 200 and the vibration compensation mechanism 300 can reduce the influence of the vibration of the tamping machine on the angle detection. By measuring and compensating the vibration of the mounting bracket crossbeam 100, the angle sensor 500 is in a relatively stable state, which greatly improves the measurement accuracy. Compared with the traditional electronic pendulum angle detection device, the angle sensor 500 in this embodiment does not need to be provided with damping silicone oil, eliminating the replacement cost caused by silicone oil contamination and deterioration; and compared with the traditional acceleration chip 3000, the angle sensor 500 in this solution does not need to be provided with a low-pass filter, which greatly improves the response performance of the angle sensor 500, reduces the response time, and improves the accuracy of track angle detection.

[0054] In this embodiment, the vibration sensor 200 is an acceleration sensor, which is used to detect the acceleration of the mounting bracket beam 100. The vibration sensor 200 has the advantages of rapid response and low delay, thereby facilitating control based on vibration data as the control target, and ultimately making the vibration data tend to a stable value (i.e., the low-frequency component remaining after offsetting the high-frequency component), thereby facilitating the angle sensor 500 to detect the track inclination.

[0055] The vibration data acquired by the vibration sensor 200 includes the acceleration acquired by the vibration sensor 200 in a direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100 (the vertical plane passing through the mounting bracket beam 100 ), that is, the component of the acceleration along the direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100 .

[0056] The acceleration detected by the vibration sensor 200 includes the acceleration of gravity and the acceleration caused by the vibration caused by the tamping vehicle. The components of the acceleration along the direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100 include the component Gcosθ of the acceleration of gravity in the direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100 and the component of the acceleration generated by the tamping vehicle driving vibration in the direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100. Since the parameter Gcosθ detected by the angle sensor 500 is only related to the component of the acceleration detected by the vibration sensor 200 along the direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100, it is not necessary to consider the component of the acceleration in the direction parallel to the upper and lower surfaces of the mounting bracket beam 100. Therefore, in this embodiment, the vibration data obtained by the vibration sensor 200 only includes the acceleration obtained by the vibration sensor 200 along the direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100, and the vibration compensation mechanism 300 only needs to perform vibration compensation in the direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100, thereby greatly reducing the complexity of the control system and the vibration compensation mechanism 300 and reducing costs.

[0057] In this embodiment, a vibration sensor 200 is provided at each end of the mounting bracket beam 100, and the two vibrators respectively detect the vibrations at the two ends of the mounting bracket beam 100. A vibration compensation mechanism 300 is also provided at each end of the mounting bracket beam 100, and the high-frequency components at the two ends of the mounting bracket beam 100 are compensated by the two vibration compensation mechanisms 300, thereby achieving a better high-frequency vibration compensation effect on the mounting bracket beam 100.

[0058] The angle sensor 500 is arranged at the midpoint of the line connecting the two vibration sensors 200. The high-frequency components of the mounting bracket beams 100 on both sides of the angle sensor 500 can be evenly offset, further reducing the influence of the high-frequency components on the angle sensor 500 and ensuring the accuracy of track inclination detection.

[0059] The vibration compensation mechanism 300 includes a driving member 310, a mechanical transmission device 320 and a vibration block 330. The driving member 310 is electrically connected to the controller 400, and the driving member 310 is connected to the vibration block 330 through the mechanical transmission device 320. In the vibration compensation mechanism 300, the driving member 310 drives the vibration block 330 to move through the mechanical transmission device 320, thereby generating vibrations perpendicular to the upper and lower surfaces of the mounting bracket beam 100, thereby being able to offset the vibration components perpendicular to the upper and lower surfaces of the mounting bracket beam 100 in the vibration, while the vibration components in other directions do not affect the angle sensor 500's measurement of the inclination angle, so there is no need to compensate. Therefore, the vibration compensation structure in this scheme is simple and reasonable, and can adapt to the compensation of vibrations on the mounting bracket beam 100 and the angle sensor 500's measurement of the inclination angle.

[0060] Specifically in this embodiment, the driving member 310 includes a servo motor, the controller 400 is electrically connected to a motor driver 700, and the motor driver 700 is electrically connected to the servo motor. The servo motor facilitates the controller 400 to perform servo control through pulses, thereby facilitating accurate control of the vibration block 330 to vibrate to offset and compensate for high-frequency components.

[0061] In this embodiment, the mechanical transmission device 320 may be a reduction gear set or a transmission shaft, and the vibration block 330 may be a component whose center of gravity does not coincide with the rotation axis, and the driving motor drives the vibration block 330 to rotate through the mechanical transmission device 320. Specifically, when the center of gravity of the vibration block 330 rotates to above its rotation center, the vibration block 330 generates upward vibration due to rotational inertia. When the center of gravity of the vibration block 330 rotates to below its rotation center, the vibration block 330 generates downward vibration due to rotational inertia.

[0062] In addition, in other embodiments, the vibration drive mechanism may also include a pneumatic spring or an air suspension, and the pneumatic spring or the air suspension is used to perform vibration compensation on the mounting bracket beam 100, so that the angle sensor 500 can accurately detect the track inclination.

[0063] In this embodiment, the vibration sensor 200 is electrically connected to a high-pass filter 600, and the high-pass filter 600 is electrically connected to the controller 400; the high-pass filter 600 allows the components of the vibration data with a vibration frequency higher than the set frequency (i.e., the high-frequency components) to pass through, while filtering the low-frequency components lower than the set frequency, so that when the vibration compensation mechanism 300 compensates for the vibration of the mounting bracket beam 100, the low-frequency components caused by the track inclination will not be offset, thereby ensuring that the angle sensor 500 can normally detect the inclination of the track.

[0064] Reference Figure 6 and Figure 7In this embodiment, a dual-loop PID control system is used to perform real-time feedback compensation control on the vibration of the mounting bracket beam 100. Specifically, in this embodiment, the vibration sensor 200 collects vibration data on the mounting bracket beam 100, and the vibration data includes acceleration component values ​​along the direction perpendicular to the upper and lower surfaces of the mounting bracket beam 100 represented by current signals. A high-pass filter 600 is used to extract high-frequency components with a frequency greater than the set frequency from the vibration data, and the extracted high-frequency components are considered to be caused by the vibration of the tamping machine driving operation. The detected high-frequency component is used as the outer loop control target c(t), and the target acceleration r(t) is input into the PID control system. In the negative feedback adjustment process, the deviation e(t) = r(t)- c(t), and the deviation e(t) is adjusted by proportional, integral and differential compound, and a current control signal u(t) is output.

[0065] in:

[0066]

[0067] Where, T I is the integration time constant, T D is the differential time constant, K p is the proportional gain coefficient.

[0068] The high-frequency component is controlled by the outer loop PID and outputs the current control signal u(t) of the servo motor. The current control signal u(t) is used as the input of the PID inner loop, and directly outputs the PWM pulse width control signal to the motor driver 700. The motor driver 700 drives the servo motor with power to drive the vibration block 330 to vibrate up and down, adjust the high-frequency component c(t), and realize closed-loop control.

[0069] In this embodiment, the control target is to make the value of the deviation e(t) approach zero, that is, to make the high-frequency vibration value after the final compensation and regulation be 0, so as to offset the influence of the working vibration of the tamping vehicle on the inclination angle measurement.

[0070] In this embodiment, the motor driver 700 is a MOSFET power module or an IGBT power module to achieve a quick response and facilitate the controller 400 to output a current control signal for control.

[0071] In this embodiment, the controller 400 includes an MCU processor, which is electrically connected to the vibration sensor 200 and the vibration compensation mechanism 300. It has a simple structure, mature technology, and low cost, and meets the feedback adjustment requirements of this solution.

[0072] The above description is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. A track inclination detection device, characterized in that: The inclination angle detection device comprises a mounting bracket crossbeam (100), a vibration sensor (200), a vibration compensation mechanism (300) and an angle sensor (500); the mounting bracket crossbeam (100) is used to be fixed to a tamping vehicle and parallel to and across the track; The vibration sensor (200) is arranged on the mounting bracket crossbeam (100) and is used to detect the vibration of the mounting bracket crossbeam (100); the vibration compensation mechanism (300) is arranged on the mounting bracket crossbeam (100), and the vibration compensation mechanism (300) can apply vibration to the mounting bracket crossbeam (100); the angle sensor (500) is an acceleration sensor, and the angle sensor (500) is arranged on the mounting bracket crossbeam (100) and is used to detect the inclination angle of the mounting bracket crossbeam (100); The vibration sensor (200) and the vibration compensation mechanism (300) are electrically connected to a controller (400), and the controller (400) receives vibration data output by the vibration sensor (200); defines the part of the vibration data whose vibration frequency is higher than the set frequency as the high-frequency component, and the part whose vibration frequency is not higher than the set frequency as the low-frequency component, and the controller (400) controls the vibration compensation mechanism (300) to vibrate in the opposite direction according to the high-frequency component to eliminate the vibration of the mounting bracket crossbeam (100); the vibration sensor (200) is an acceleration sensor, and the vibration sensor (200) is used to detect the acceleration of the mounting bracket crossbeam (100), and the vibration data includes the acceleration acquired by the vibration sensor (200) in a direction perpendicular to the upper and lower surfaces of the mounting bracket crossbeam (100); The vibration sensor (200) is electrically connected to a high-pass filter (600), and the high-pass filter (600) is electrically connected to the controller (400); the high-pass filter (600) is capable of allowing the high-frequency component to pass through.

2. A track inclination detection device as claimed in claim 1, characterized in that: One vibration sensor (200) is provided at each end of the mounting bracket crossbeam (100), and one vibration compensation mechanism (300) is also provided at each end of the mounting bracket crossbeam (100); and the angle sensor (500) is provided at the midpoint of the line connecting the two vibration sensors (200).

3. A track inclination detection device as claimed in claim 1, characterized in that: The vibration compensation mechanism (300) comprises a driving member (310), a mechanical transmission device (320) and a vibration block (330); the driving member (310) is electrically connected to the controller (400); the driving member (310) is connected to the vibration block (330) via the mechanical transmission device (320); the controller (400) is capable of controlling the driving member (310) to drive the vibration block (330) to vibrate in a direction perpendicular to the upper and lower surfaces of the mounting bracket crossbeam (100).

4. A track inclination detection device as claimed in claim 3, characterized in that: The driving member (310) includes a servo motor, the controller (400) is electrically connected to a motor drive (700), and the motor drive (700) is electrically connected to the servo motor.

5. A track inclination detection device as claimed in claim 4, characterized in that: The controller (400) outputs a current control signal according to the high-frequency component, and the current control signal controls the motor driver (700) to drive the servo motor to drive the vibration block (330) to vibrate.

6. A track inclination detection device as claimed in claim 5, characterized in that: The motor drive (700) is a mosfet power module or an igbt power module.

7. A track inclination detection device as claimed in claim 1, characterized in that: The set frequency is 8-10 Hz.

8. A track inclination detection device as claimed in claim 1, characterized in that: The controller (400) comprises an MCU processor, and the MCU processor is electrically connected to the vibration sensor (200) and the vibration compensation mechanism (300).

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