Rail-mounted automatic control electrically-driven flaw detection test platform

Abstract

The invention relates to a rail-mounted automatic-control electrically-driven flaw detection test platform, which comprises a flaw detection test trolley which comprises a tractor and a trailer connected with the tractor, and the tractor is used for providing power to drive the trailer to run on a steel rail; the flaw detection system comprises a steel rail flaw detection device and a flaw detection control cabinet which are both arranged on the trailer, and the steel rail flaw detection device is used for detecting flaws in the steel rails and sending flaw detection results to the flaw detection control cabinet; the power system comprises a driving motor, a main driving wheel and a controller which are all arranged on the tractor, and the driving motor is connected with the main driving wheel and the controller; the driving motor is used for realizing one-key starting of the flaw detection test trolley under the control of the controller, automatically completing acceleration, constant speed and braking in the test direction and automatically returning after the test is completed; in addition, the maximum speed of the flaw detection test trolley can reach 120 km / h, and the acceleration in the acceleration process is larger than or equal to 7 m / s < 2 >.

Description

Technical Field

[0001] The invention relates to the technical field of rail flaw detection, and in particular to a rail-mounted automatic controlled electrically driven flaw detection test platform. Background Art

[0002] With the continuous growth of railway operating lines, the maintenance pressure is also increasing day by day. For railway lines, rail defects directly affect the driving safety of passenger trains and freight trains. At present, most rails are exposed to nature. Due to the power of various vehicles and the influence of natural conditions, many defects will be caused to the rails. In order to make the health status and technical indicators of the rails within a reasonable and controllable range, it is necessary to use rail flaw detection vehicles for periodic flaw detection.

[0003] At present, the maximum speed of the actual flaw detection vehicle is only 80km / h. With the increase of railway line mileage, this flaw detection speed is gradually no longer able to meet the current flaw detection needs. In order to produce, develop and calibrate higher-speed rail flaw detection vehicles and flaw detection systems, it is urgent to provide a track-based automatic control electric drive flaw detection test platform that can achieve rapid acceleration and maintain high-speed and uniform speed under limited line conditions, which can be used to carry rail flaw detection devices for testing. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a track-type automatic controlled electric drive flaw detection test platform.

[0005] To solve the above problems, the technical solution adopted by the present invention is: A track-type automatic control electric drive flaw detection test platform, comprising: A flaw detection test trolley, comprising: a tractor and a trailer connected to the tractor, wherein the tractor is used to provide power to drive the trailer to travel on a steel rail; A flaw detection system, comprising: a rail flaw detection device and a flaw detection control cabinet, both of which are arranged on the trailer, wherein the rail flaw detection device is used to detect the flaws inside the rail and send the flaw detection results to the flaw detection control cabinet; A power system, comprising: a drive motor, a main drive wheel and a controller, all of which are arranged on the tractor, wherein the drive motor is connected to the main drive wheel and the controller respectively; The drive motor is used to realize one-button start of the flaw detection test trolley under the control of the controller, automatically complete acceleration, constant speed, braking in the test direction, and automatically return after completing the test; in addition, the maximum speed of the flaw detection test trolley can reach 120km / h, and the acceleration during acceleration is ≥7m / s 2 .

[0006] As an embodiment of the invention, the tread positions of the main driving wheels on the tractor and the driven wheels on the trailer are reserved 8 to 30 mm for rubber vulcanization treatment, so that the allowable adhesion coefficient of all tires is greater than 0.8.

[0007] As an embodiment of the invention, the wheel rims of the main driving wheel and the driven wheel are made of aluminum alloy, and a plurality of through holes are provided on the wheel rims of the main driving wheel and / or the driven wheel to reduce the unsprung mass to less than 250 kg.

[0008] As an implementation mode of the invention, the controller is a fuzzy PID controller, which uses a fuzzy PID algorithm to adjust the input target speed in real time to output the vehicle running speed.

[0009] As an implementation method of the invention, the fuzzy PID controller is designed as follows: (1) Fuzzy process: The input variables of the fuzzy controller are the deviation between the current speed and the target speed e and deviation increment e c , the output variables are the correction values ​​of the PID parameters Δ K p , Δ K i and Δ K d ; Set the basic domain of these five variables to [-6,6], take seven fuzzy subsets, the fuzzy subsets are {NB, NM, NS, ZO, PS, PM, PB}, the elements in the subsets represent negative large, negative medium, negative small, zero, positive small, positive medium, positive large respectively; the basic domain and the actual domain are transformed by the quantization coefficient; (2) Fuzzy rule setting: According to the PID parameter tuning principle, a fuzzy rule table is established. The PID parameter tuning principle is as follows: For the PID algorithm, when the deviation is large, K p Take a larger value to speed up the response. K d Taking a small value avoids oversaturation caused by large deviation increments. K i Take 0; when the deviation and deviation increment are of medium size, it can be appropriately reduced K p value, K d The value should not change too much compared to the starting time. K i The value should be selected appropriately; when the deviation is small, K iThe value should be increased if the deviation increment is large. K d The value should be reduced, otherwise a moderate value can be taken; (3) Defuzzification process: Using the centroid method, the calculation formula after discretization is as follows: ; in, z 0 is the exact value after defuzzification operation, μ c ( z i ) is the membership value, z i is the fuzzy quantized value; (4) Preliminary analysis and verification through simulation experiments to obtain the initial values ​​of PID parameters K p0 , K i0 , K d0 , according to the following formula, the parameter value of the fuzzy PID controller output is obtained: ; in, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, Δ K p , Δ K i and Δ K d is the scale factor; (5) The output value of the PID controller is obtained using the following formula: ; in, e ( t )for t The difference between the set value and the feedback value at the moment, u ( t )for t The output value of the PID controller at that moment.

[0010] As an embodiment of the invention, in the fuzzy process of step (1), e and e c Project them into the basic domain respectively. If the value interval of a variable is [a, b], the projection formula is: ;; in, x for e or e c 。

[0011] As an implementation mode of the present invention, in the fuzzy process of step (1), the five variables all take triangular membership functions.

[0012] As an implementation mode of the invention, the drive motor adopts a drive motor with a peak power of 220 kW, a peak torque of 1000 N·m, and a maximum speed of 5300 r / min.

[0013] As an embodiment of the invention, two main drive wheels are provided, which are respectively located on the left and right sides of the frame of the tractor. The hub spacing of the two main drive wheels is 1166 mm, the hub outer side spacing is 1505 mm, and the wheel back spacing is adjusted to 1353 mm to adapt to the track gauge.

[0014] The beneficial effects of adopting the above technical solution are: The track-type automatic control electric drive flaw detection test platform provided by the embodiment of the present invention can realize one-key start of the flaw detection test trolley, automatically complete acceleration, constant speed, braking in the test direction, and automatically return after completing the test, that is, realize automated testing, no longer require manual on-site operation, reduce the burden on staff, and have a high degree of automation; in addition, the maximum speed of the flaw detection test trolley can reach 120km / h, and the acceleration during acceleration is ≥7m / s 2 That is, it realizes rapid acceleration and maintains high-speed and uniform speed operation, ensuring that the non-destructive testing vehicle meets the working conditions and improves the scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a flaw detection test trolley provided in an embodiment of the present invention.

[0016] Figure 2 It is a structural diagram of a fuzzy PID algorithm provided by an embodiment of the present invention.

[0017] Figure 3 This is a cruise control simulation speed curve diagram provided by an embodiment of the present invention.

[0018] Figure 4 It is a line disturbance simulation speed curve diagram provided by an embodiment of the present invention.

[0019] Figure 5 It is a field operation speed curve diagram provided by an embodiment of the present invention.

[0020] Among them: 1 tractor, 2 trailer, 3 rail flaw detection device, 4 flaw detection control cabinet, 5 main driving wheel, 6 driven wheel. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is clearly and completely described below in conjunction with specific embodiments.

[0022] The embodiment of the present invention provides a track-type automatic control electric drive flaw detection test platform, which includes: The flaw detection test trolley comprises: a tractor 1 and a trailer 2 connected to the tractor 1, wherein the tractor 1 is used to provide power to drive the trailer 2 to travel on a rail; The flaw detection system comprises: a rail flaw detection device 3 and a flaw detection control cabinet 4, both of which are arranged on the trailer, wherein the rail flaw detection device 3 is used to detect the flaws inside the rail and send the flaw detection results to the flaw detection control cabinet 4; A power system, comprising: a drive motor, a main drive wheel and a controller, all of which are arranged on the tractor, wherein the drive motor is connected to the main drive wheel and the controller respectively; The drive motor is used to realize one-button start of the flaw detection test trolley under the control of the controller, automatically complete acceleration, constant speed, braking in the test direction, and automatically return after completing the test; in addition, the maximum speed of the flaw detection test trolley can reach 120km / h, and the acceleration during acceleration is ≥7m / s 2 .

[0023] The track-type automatic control electric drive flaw detection test platform provided by the embodiment of the present invention can realize one-key start of the flaw detection test trolley, automatically complete acceleration, constant speed, braking in the test direction, and automatically return after completing the test, that is, realize automated testing, no longer require manual on-site operation, reduce the burden on staff, and have a high degree of automation; in addition, the maximum speed of the flaw detection test trolley can reach 120km / h, and the acceleration during acceleration is ≥7m / s 2 That is, it realizes rapid acceleration and maintains high-speed and uniform speed operation, ensuring that the non-destructive testing vehicle meets the working conditions and improves the scope of application.

[0024] The present invention first further explains the structure of the flaw detection test trolley.

[0025] In a possible implementation, the tread positions of the main driving wheel 5 on the tractor 1 and the driven wheel 6 on the trailer 2 are reserved for 8 to 30 mm for rubber vulcanization treatment to increase wheel-rail adhesion so that the allowable adhesion coefficient of all tires is greater than 0.8; the wheel rims of the main driving wheel and the driven wheel are made of aluminum alloy, and a plurality of through holes are provided on the wheel rims of the main driving wheel and / or the driven wheel to reduce the unsprung mass to less than 250 kg.

[0026] In addition, the driving motor adopts a driving motor with a peak power of 220kW, a peak torque of 1000N·m, and a maximum speed of 5300r / min; two main driving wheels are arranged, which are respectively located on the left and right sides of the frame of the tractor, and the hub spacing of the two main driving wheels is 1166 mm, the hub outer side spacing is 1505 mm, and the wheel back spacing is adjusted to 1353mm to adapt to the track gauge.

[0027] The track-type automatic control electric drive flaw detection test platform provided by the embodiment of the present invention can realize one-key start of the flaw detection test trolley, automatically complete acceleration, constant speed, braking in the test direction, and automatically return after completing the test, that is, realize automated testing, no longer require manual on-site operation, reduce the burden on staff, and have a high degree of automation; in addition, the maximum speed of the flaw detection test trolley can reach 120km / h, and the acceleration during acceleration is ≥7m / s 2 That is, it realizes rapid acceleration and maintains high-speed and uniform speed operation, ensuring that the non-destructive testing vehicle meets the working conditions and improves the scope of application.

[0028] In addition, in order to realize the control of the controller, the controller is described below.

[0029] The controller in the present invention is a fuzzy PID controller, which uses a fuzzy PID algorithm to adjust the output target speed in real time to output the vehicle running speed, such as Figure 2 shown.

[0030] Specifically, the fuzzy PID controller is designed as follows: (1) Fuzzy process: The input variables of the fuzzy controller are the deviation between the current speed and the target speed e and the increment of the deviation e c (The current speed is detected by the sensor, and the difference between the actual speed and the target speed is the deviation; in addition, the detection is performed according to the detection cycle, and the change in the deviation between two adjacent cycles is the deviation increment), the output variables are the correction values ​​of the PID parameters Δ K p , Δ K i and ΔK d ; Set the basic domain of these five variables to [-6,6], take seven fuzzy subsets, the fuzzy subsets are {NB, NM, NS, ZO, PS, PM, PB}, the elements in the subsets represent negative large, negative medium, negative small, zero, positive small, positive medium, positive large respectively; the basic domain and the actual domain are transformed by the quantization coefficient; Will e and e c Project them into the basic domain respectively. If the value interval of a variable is [a, b], the projection formula is: ; in, x for e or e c .

[0031] (2) Fuzzy rule setting: According to the PID parameter tuning principle, a fuzzy rule table is established. The PID parameter tuning principle is as follows: For the PID algorithm, when the deviation is large, K p Take a larger value to speed up the response. K d Taking a small value avoids oversaturation caused by large deviation increments. K i Take 0; when the deviation and deviation increment are of medium size, it can be appropriately reduced K p value, K d The value should not change too much compared to the starting time. K i The value should be selected appropriately; when the deviation is small, K i The value should be increased if the deviation increment is large. K d The value should be reduced, otherwise a moderate value can be taken.

[0032] Establish fuzzy rule tables, as shown in Tables 1, 2, and 3.

[0033] Table 1 Δ K p Fuzzy rule table Table 2 Δ K i Fuzzy rule table Table 3 Δ K d Fuzzy rule table (3) Defuzzification process: The input variable maps the output variable interval to the membership function curve according to the fuzzy rule, and generates an accurate output value after processing. This process is called the defuzzification process. The present invention adopts the centroid method, and the calculation formula after discretization is as follows: ; in, z 0 is the exact value after defuzzification operation, μ c ( z i ) is the membership value, z i is the fuzzy quantized value; (4) Preliminary analysis and verification through simulation experiments to obtain the initial values ​​of PID parameters K p0 , K i0 , K d0 , according to the following formula, the parameter value of the fuzzy PID controller output is obtained: ; in, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, Δ K p , Δ K i and Δ K d is the scale factor; (5) The output value of the PID controller is obtained using the following formula: ; in, e ( t )for t The difference between the set value and the feedback value at the moment, u ( t )for t The output value of the PID controller at that moment.

[0034] Of course, the present invention has also been verified by examples.

[0035] 1. Simulation test This experiment uses classical PID control and fuzzy PID control as comparison.

[0036] (1) Take the step signal as the input signal of the system, set the value after the step moment to 120, that is, set the target speed to 120 km / h. The speed curve after simulation is as follows: Figure 3 shown.

[0037] (2) Line disturbance response After the vehicle speed reaches a stable state, a line disturbance signal is added. Here, the slope is used as the disturbance factor and the slope is set to 30‰. The speed curve after simulation is as follows: Figure 4 shown.

[0038] Analysis of simulation experiment results The above two tests show that the fuzzy PID algorithm has a smaller overshoot than the classic PID algorithm and can reach a stable state faster; under external interference, it takes less time to restore the steady state, and the entire system is not prone to oscillation. The simulation test results show that the fuzzy PID algorithm can be applied to the control system of the electric drive platform.

[0039] 2. Field Test (1) Test environment The test site is located at the National Railway Test Center (Eastern Suburbs Branch), and the test line is a small loop line. The small loop line is a ballasted seamless line with a maximum straight-line speed limit of 150 km / h. The test starts from a 1,000 m radius curve, with the starting mileage mark at K6+820, and the total running length is about 1,300 m. During acceleration, it passes through the No. 104 turnout, during high-speed operation, it passes through the C4 turnout, and during braking, it passes through the No. 105 turnout.

[0040] (2) Test results and analysis The ground terminal records the speed curve of the vehicle during operation, such as Figure 5 When the operating speed is set at 120 km / h, the speed overshoot of the electric drive platform does not exceed 5 km / h. Under the influence of factors such as wind speed changes on site and the impact of turnouts, the speed fluctuation does not exceed 3 km / h.

[0041] The field test results show that the fuzzy PID controller can meet the speed regulation requirements and achieve the test objectives of the test equipment.

Claims

1. A track-type automatic control electric drive flaw detection test platform, characterized in that: It includes: A flaw detection test trolley, comprising: a tractor and a trailer connected to the tractor, wherein the tractor is used to provide power to drive the trailer to travel on a steel rail; A flaw detection system, comprising: a rail flaw detection device and a flaw detection control cabinet, both of which are arranged on the trailer, wherein the rail flaw detection device is used to detect the flaws inside the rail and send the flaw detection results to the flaw detection control cabinet; A power system, comprising: a drive motor, a main drive wheel and a controller, all of which are arranged on the tractor, wherein the drive motor is connected to the main drive wheel and the controller respectively; The driving motor is used to realize one-key start of the flaw detection test trolley under the control of the controller, automatically complete acceleration, constant speed, braking in the test direction, and automatically return after completing the test; and the maximum speed of the flaw detection test trolley can reach 120km / h, and the acceleration during acceleration is ≥7m / s 2 .

2. The track-mounted automatic controlled electric drive flaw detection test platform according to claim 1, characterized in that: The tread positions of the main driving wheels on the tractor and the driven wheels on the trailer are reserved 8 to 30 mm for rubber vulcanization to increase wheel-rail adhesion so that the allowable adhesion coefficient of all tires is greater than 0.

8.

3. The track-mounted automatic controlled electric drive flaw detection test platform according to claim 2 is characterized in that: The sheave material of the main driving wheel and the driven wheel is aluminum alloy, and a plurality of through holes are provided on the sheave of the main driving wheel and / or the driven wheel to reduce the unsprung mass to less than 250kg.

4. The track-mounted automatic controlled electric drive flaw detection test platform according to claim 1, characterized in that: The controller is a fuzzy PID controller, which uses a fuzzy PID algorithm to adjust the input target speed in real time to output the vehicle running speed.

5. The track-mounted automatic controlled electric drive flaw detection test platform according to claim 4, characterized in that: The fuzzy PID controller is designed as follows: (1) Fuzzy process: The input variables of the fuzzy controller are the deviation between the current speed and the target speed e and deviation increment e c , the output variables are the correction values ​​of the PID parameters Δ K p , Δ K i and Δ K d ; Set the basic domain of these five variables to [-6,6], take seven fuzzy subsets, the fuzzy subsets are {NB, NM, NS, ZO, PS, PM, PB}, the elements in the subsets represent negative large, negative medium, negative small, zero, positive small, positive medium, positive large respectively; the basic domain and the actual domain are transformed by the quantization coefficient; (2) Fuzzy rule setting: According to the PID parameter tuning principle, a fuzzy rule table is established. The PID parameter tuning principle is as follows: For the PID algorithm, when the deviation is large, K p Take a larger value to speed up the response. K d Taking a small value avoids oversaturation caused by large deviation increments. K i Take 0; When the deviation and deviation increment are of medium size, it can be appropriately reduced K p value, K d The value should not change too much compared to the starting time. K i The value should be used appropriately; When the deviation is small, K i The value should be increased if the deviation increment is large. K d The value should be reduced, otherwise a moderate value can be taken; (3) Defuzzification process: Using the centroid method, the calculation formula after discretization is as follows: ； in, z 0 is the exact value after defuzzification operation, μ c ( z i ) is the membership value, z i is the fuzzy quantized value; (4) Preliminary analysis and verification through simulation experiments to obtain the initial values ​​of PID parameters K p0 , K i0 , K d0 , according to the following formula, the parameter value of the fuzzy PID controller output is obtained: ； in, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, Δ K p , Δ K i and Δ K d is the scale factor; (5) The output value of the PID controller is obtained using the following formula: ； in, e ( t )for t The difference between the set value and the feedback value at the moment, u ( t )for t The output value of the PID controller at that moment.

6. The track-mounted automatic controlled electric drive flaw detection test platform according to claim 5, characterized in that: In step (1), during the fuzzy process, e and e c Project them into the basic domain respectively. If the value interval of a variable is [a, b], the projection formula is: ； in, x for e or e c .

7. The track-mounted automatic controlled electric drive flaw detection test platform according to claim 5, characterized in that: In step (1) of the fuzzy process, the five variables all take triangular membership functions.

8. The track-mounted automatic controlled electric drive flaw detection test platform according to claim 1, characterized in that: The driving motor has a peak power of 220 kW, a peak torque of 1000 N·m, and a maximum speed of 5300 r / min.

9. The track-mounted automatic controlled electric drive flaw detection test platform according to claim 1, characterized in that: There are two main drive wheels, which are respectively located on the left and right sides of the frame of the tractor. The hub spacing of the two main drive wheels is 1166 mm, the hub outer side spacing is 1505 mm, and the wheel back spacing is adjusted to 1353 mm to adapt to the track gauge.

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