Pantograph pressure and contact force detection method, device, apparatus, quality and program

Abstract

The invention relates to a pantograph pressure and contact force detection method and device, equipment, a storage medium and a computer program.The method comprises the steps that preset displacement data of an air spring are obtained through an acquisition device, whether a pantograph ascends and descends or not is judged according to the displacement data, and if the pantograph does not ascend and descend, the pantograph pressure and contact force is detected. If yes, returning to the step of acquiring the preset displacement data of the air spring by using the acquisition device, otherwise, calculating the pressure of the pantograph lifting according to the displacement data by using a pre-constructed spring force and displacement relationship basic model, and calculating the pantograph lifting moment according to the pressure of the pantograph lifting, judging whether the pantograph and the contact network reach a stable state or not according to the displacement data, if the pantograph and the contact network do not reach the stable state, returning to the step of judging whether the pantograph and the contact network reach the stable state or not according to the displacement data, and if the pantograph and the contact network reach the stable state, returning to the step of judging whether the pantograph and the contact network reach the stable state. And if so, calculating the static contact force according to the pantograph lifting moment.

Description

Technical Field

[0001] The present disclosure relates to the technical field of rail transit operation monitoring, and in particular to a pantograph pressure and contact force detection method, device, equipment, storage medium and computer program. Background Art

[0002] With the vigorous development of my country's rail transit sector, more and more rail transit trains of various types are running daily. Therefore, the current collection quality of pantographs and contact lines in rail trains is becoming more and more important. Only when the appropriate contact pressure is maintained between the pantograph slide and the contact line can the pantograph / contact line system have good current collection quality.

[0003] However, the existing method is to directly measure the lifting bow pressure and static contact force through pressure sensors. This measurement method is inefficient, so it is necessary to design a new and simpler measurement method to improve efficiency. Summary of the invention

[0004] The present disclosure provides a pantograph pressure and contact force detection method, device, equipment, storage medium and computer program to solve the problem of low efficiency of existing pantograph contact force monitoring methods.

[0005] In a first aspect, the present disclosure provides a pantograph pressure and contact force detection method, comprising:

[0006] Using a collection device to obtain preset displacement data of the air spring;

[0007] judging whether the pantograph is raised or lowered according to the displacement data;

[0008] If the pantograph does not rise or fall, return to the step of using the acquisition device to obtain the displacement data of the preset air spring;

[0009] If the pantograph is raised or lowered, the pantograph raising or lowering pressure is calculated according to the displacement data using a pre-constructed basic model of the relationship between spring force and displacement;

[0010] Calculating the bow lifting moment according to the bow lifting pressure;

[0011] Determining whether the pantograph and the contact network have reached a stable state according to the displacement data;

[0012] If the pantograph and the contact network have not reached a stable state, returning to the step of judging whether the pantograph and the contact network have reached a stable state according to the displacement data;

[0013] If the pantograph and the contact network reach a stable state, the static contact force is calculated according to the pantograph lifting torque.

[0014] In some embodiments, the method of acquiring the displacement data of the preset air spring by using the acquisition device includes:

[0015] Initialize the preset displacement sensor;

[0016] Using the initialized displacement sensor to obtain position change data of the air spring at preset time intervals;

[0017] The displacement data is obtained by analyzing the position change data.

[0018] In some embodiments, before calculating the lifting bow pressure according to the displacement data using the pre-built basic model of the relationship between spring force and displacement, the method further includes:

[0019] The basic model of the relationship between spring force and displacement is expressed by the following formula:

[0020]

[0021] Wherein, F is the lifting bow pressure, x is the displacement data, is the volume change rate of the air spring relative to the displacement data, A eff is the effective area of ​​the air spring, ΔA eff is the change in the effective area of ​​the air spring, P0 is the static air pressure value when the air spring is in equilibrium, τ is the preset delay, V0 is the volume of the air spring, n is a constant that controls the relationship between the air pressure value and the volume, ω is the preset angular frequency, ξ is the predetermined damping coefficient, s is the preset standard height of the air spring, j is a preset imaginary number, u is the preset reference angular frequency, σ is the preset maximum angular frequency, e is the base of the natural logarithm, K1, K2, K3 are the preset first weight coefficient, the second weight coefficient, and the third weight coefficient, respectively.

[0022] In some embodiments, the calculating the bow lifting moment according to the bow lifting pressure includes:

[0023] The lifting moment is calculated using the following formula:

[0024] M=m1g·x1+m2g·x2+m3g·x3+F·x1

[0025] Among them, M is the bow raising torque, m1, m2, m3 are the equivalent masses of the lower arm, upper arm, and bow head in the pantograph respectively, x1 is the horizontal distance from the center of mass of the lower arm to the point of force application, x2 is the horizontal distance from the center of mass of the upper arm to the point of force application, x3 is the horizontal distance from the center of mass of the bow head to the point of force application, and F is the bow raising and lowering pressure.

[0026] In some embodiments, judging whether the pantograph and the contact network have reached a stable state according to the displacement data includes:

[0027] Determining whether the displacement data reaches a preset maximum displacement;

[0028] If the displacement data does not reach the preset maximum displacement, returning to the step of determining whether the displacement data reaches the preset maximum displacement;

[0029] If the displacement data reaches a preset maximum displacement, determining whether the displacement data remains constant within a preset time period;

[0030] If the displacement data does not remain constant within the preset time period, returning to the step of determining whether the displacement data reaches a preset maximum displacement;

[0031] If the displacement data remains constant within a preset time period, it is determined that the preset contact network of the pantograph has reached a stable state.

[0032] In some embodiments, calculating the static contact force according to the lifting moment includes:

[0033] The static contact force is calculated using the following formula:

[0034]

[0035] in, is the static contact force, M is the bow-lifting moment, and L is the horizontal distance from the center of mass of the lower arm of the pantograph to the point of force application in a stable state.

[0036] In a second aspect, the present disclosure provides a pantograph pressure and contact force detection device, comprising:

[0037] A data acquisition module, used to acquire preset displacement data of the air spring using an acquisition device;

[0038] A lifting judgment module, used for judging whether the pantograph is lifted or lowered according to the displacement data, and if the pantograph is not lifted or lowered, returning to the step of obtaining the displacement data of the preset air spring by using the acquisition device;

[0039] a stability judgment module, used for judging whether the pantograph and the contact network have reached a stable state according to the displacement data, and if the pantograph and the contact network have not reached a stable state, returning to the step of judging whether the pantograph and the contact network have reached a stable state according to the displacement data;

[0040] The data calculation module calculates the pantograph pressure according to the displacement data if the pantograph is raised or lowered, and the lifting bow torque is calculated according to the lifting bow pressure. If the pantograph and the contact network reach a stable state, the static contact force is calculated according to the lifting bow torque.

[0041] In a third aspect, the present disclosure provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above aspects.

[0042] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method described in the above aspects when executed by a processor.

[0043] In a fifth aspect, the present disclosure provides a computer program product, including a computer program, which implements the steps of the method described in the above aspects when executed by a processor.

[0044] The present disclosure provides a pantograph pressure and contact force detection method, device, equipment, storage medium and computer program. The method uses a collection device to obtain displacement data of a preset air spring, and judges whether the pantograph is raised or lowered according to the displacement data. If the pantograph is not raised or lowered, the method returns to the step of using the collection device to obtain the displacement data of the preset air spring. If the pantograph is raised or lowered, the lifting and lowering pantograph pressure is calculated according to the displacement data using a pre-constructed basic model of the relationship between spring force and displacement, thereby improving the efficiency of calculating the lifting and lowering pantograph pressure. The lifting pantograph torque is calculated according to the lifting and lowering pantograph pressure, thereby improving the efficiency of calculating the lifting pantograph torque. The method judges whether the pantograph and the contact network have reached a stable state according to the displacement data. If the pantograph and the contact network have not reached a stable state, the method returns to the step of judging whether the pantograph and the contact network have reached a stable state according to the displacement data. If the pantograph and the contact network have reached a stable state, the static contact force is calculated according to the lifting pantograph torque. This solves the problem of low efficiency of the existing pantograph contact force detection method and improves the efficiency of pantograph static contact force detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0046] Figure 1 A flow chart of a pantograph pressure and contact force detection method provided in an embodiment of the present disclosure.

[0047] Figure 2 A schematic diagram of a process for obtaining air spring displacement data provided in an embodiment of the present disclosure.

[0048] Figure 3 A functional module diagram of a pantograph pressure and contact force detection device provided in an embodiment of the present disclosure.

[0049] In the drawings, the same reference numerals are used for the same components and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solution of the present disclosure, and to fully understand and implement how the present disclosure applies technical means to solve technical problems and achieve the corresponding technical effects, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the present disclosure, not all of the embodiments. The embodiments of the present disclosure and the various features in the embodiments can be combined with each other without conflict, and the technical solutions formed are all within the scope of protection of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present disclosure.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0052] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0053] Embodiment 1

[0054] Figure 1 The following is a flow chart of a method for detecting pantograph pressure and contact force provided by an embodiment of the present disclosure. Figure 1 As shown, a method for detecting pantograph pressure and contact force comprises:

[0055] S1. Using a collection device to obtain displacement data of a preset air spring.

[0056] In the embodiment of the present invention, the air spring is an important component of the suspension system of the train. It utilizes the compressibility of gas and the elasticity of rubber to achieve the effect of buffering and vibration reduction, and is widely used in the suspension system of high-speed railway vehicles.

[0057] For details, refer to Figure 2 As shown, a schematic diagram of a process for obtaining air spring displacement data is provided in an embodiment of the present invention. The function of the air spring is to improve the contact stability and current collection quality between the pantograph and the contact network.

[0058] In the embodiment of the present invention, the method of obtaining the preset displacement data of the air spring by using the acquisition device includes:

[0059] S21, initializing the preset displacement sensor;

[0060] S22, using the initialized displacement sensor to obtain position change data of the air spring at preset time intervals;

[0061] S23. Obtain displacement data by analyzing the position change data.

[0062] In detail, the initialization process for the preset displacement sensor is to clear the historical data read by the displacement sensor and improve the subsequent measurement accuracy.

[0063] In detail, obtaining the displacement data by analyzing the position change data is to obtain the displacement change amount by analyzing the continuous position data included in the position change data.

[0064] In detail, the displacement data represents the vertical displacement of the air spring.

[0065] In the embodiment of the present invention, by using a collection device to obtain the displacement data of a preset air spring, the efficiency of subsequent determination of whether the pantograph is raised or lowered and whether the pantograph and the contact network have reached a stable state is improved.

[0066] S2. Determine whether the pantograph is raised or lowered according to the displacement data.

[0067] In the embodiment of the present invention, the pantograph is a device installed on the roof of an electric locomotive or tram. Its main function is to receive current from the contact wire of the overhead contact network to provide a stable power supply for the vehicle. The pantograph is in direct contact with the contact wire through a slide plate to achieve current transmission. When the electric locomotive or tram is running, the lifting mechanism of the pantograph is kept in accordance with the height of the overhead wire to ensure that the slide plate is tightly attached to the overhead wire. The elastic design of the pantograph enables it to maintain good contact at high speeds and when the line is uneven.

[0068] In the embodiment of the present invention, judging whether the pantograph is raised or lowered according to the displacement data is to confirm whether the pantograph is raised or lowered by judging whether the displacement data is greater than a preset displacement threshold.

[0069] In detail, when the displacement data is greater than the displacement threshold, it is determined that the pantograph has risen or fallen; when the displacement data is less than or equal to the displacement threshold, it is determined that the pantograph has not risen or fallen.

[0070] In detail, the preset displacement threshold is usually a very small value, which is used to eliminate the influence caused by errors.

[0071] In the embodiment of the present invention, by judging whether the pantograph is raised or lowered according to the displacement data, the efficiency of data analysis is improved.

[0072] If the pantograph does not rise or fall, the process returns to S1, and uses a collection device to obtain displacement data of a preset air spring.

[0073] In an embodiment of the present invention, when the pantograph does not rise or fall, it indicates that the vehicle may be stationary at this time and there is no need to perform subsequent data analysis operations. Therefore, it is necessary to return to the step of using the acquisition device to obtain the displacement data of the preset air spring and continuously detect whether the pantograph rises or falls, so as to improve the efficiency of subsequent responses.

[0074] If the pantograph is raised or lowered, S3 is executed to calculate the pantograph raising or lowering pressure according to the displacement data using a pre-constructed basic model of the relationship between spring force and displacement.

[0075] In the embodiment of the present invention, the basic model of the relationship between spring force and displacement is a mathematical model used to represent the relationship between the size of a spring and its displacement.

[0076] In the embodiment of the present invention, before calculating the lifting bow pressure according to the displacement data using the pre-constructed basic model of the relationship between spring force and displacement, the method further includes:

[0077] The basic model of the relationship between spring force and displacement is expressed by the following formula:

[0078]

[0079] Wherein, F is the lifting bow pressure, x is the displacement data, is the volume change rate of the air spring relative to the displacement data, A eff is the effective area of ​​the air spring, ΔA eff is the change in the effective area of ​​the air spring, P0 is the static air pressure value when the air spring is in equilibrium, τ is the preset delay, V0 is the volume of the air spring, n is a constant that controls the relationship between the air pressure value and the volume, ω is the preset angular frequency, ξ is the predetermined damping coefficient, s is the preset standard height of the air spring, j is a preset imaginary number, u is the preset reference angular frequency, σ is the preset maximum angular frequency, e is the base of the natural logarithm, K1, K2, K3 are the preset first weight coefficient, the second weight coefficient, and the third weight coefficient, respectively.

[0080] In the embodiment of the present invention, the lifting bow pressure is calculated according to the displacement data using the pre-constructed basic model of spring force and displacement relationship, and the displacement data of the air spring is brought into the basic model of spring force and displacement relationship to calculate the current spring, that is, the lifting bow pressure.

[0081] In the embodiment of the present invention, the basic model of the relationship between spring force and displacement is applicable to the case where the air spring is under a pressure of 3 bar to 4.5 bar.

[0082] In the embodiment of the present invention, the efficiency of the subsequent calculation of the bow lifting torque is improved by calculating the bow lifting pressure according to the displacement data using the pre-constructed basic model of the relationship between spring force and displacement.

[0083] S4. Calculate the bow lifting torque according to the bow lifting pressure.

[0084] In the embodiment of the present invention, the pantograph raising torque refers to the product of the pantograph raising and lowering pressure of the pantograph and its lever arm.

[0085] In the embodiment of the present invention, the step of calculating the bow lifting moment according to the bow lifting pressure includes:

[0086] The lifting moment is calculated using the following formula:

[0087] M=m1g·x1+m2g·x2+m3g·x3+F·x1

[0088] Among them, M is the bow raising torque, m1, m2, m3 are the equivalent masses of the lower arm, upper arm, and bow head in the pantograph respectively, x1 is the horizontal distance from the center of mass of the lower arm to the point of force application, x2 is the horizontal distance from the center of mass of the upper arm to the point of force application, x3 is the horizontal distance from the center of mass of the bow head to the point of force application, and F is the bow raising and lowering pressure.

[0089] In the embodiment of the present invention, the horizontal distance from the center of mass of the lower arm to the force point, the horizontal distance from the center of mass of the upper arm to the force point, and the horizontal distance from the center of mass of the bow head to the force point need to be calculated based on the angular displacement of the pantograph using trigonometric functions. The angular displacement of the pantograph can be calculated based on the displacement data.

[0090] In the embodiment of the present invention, by calculating the bow lifting moment according to the bow lifting pressure, the efficiency of subsequent calculation of the static contact force is improved.

[0091] S5. Determine whether the pantograph and the contact network have reached a stable state based on the displacement data.

[0092] In an embodiment of the present invention, judging whether the pantograph and the contact network have reached a stable state according to the displacement data includes:

[0093] Determining whether the displacement data reaches a preset maximum displacement;

[0094] If the displacement data does not reach the preset maximum displacement, returning to the step of determining whether the displacement data reaches the preset maximum displacement;

[0095] If the displacement data reaches a preset maximum displacement, determining whether the displacement data remains constant within a preset time period;

[0096] If the displacement data does not remain constant within the preset time period, returning to the step of determining whether the displacement data reaches a preset maximum displacement;

[0097] If the displacement data remains constant within a preset time period, it is determined that the preset contact network of the pantograph has reached a stable state.

[0098] In detail, judging whether the displacement data reaches a preset maximum displacement refers to judging whether the vertical displacement of the air spring reaches a maximum value.

[0099] If the pantograph and the contact network have not reached a stable state, the process returns to S5 and determines whether the pantograph and the contact network have reached a stable state according to the displacement data.

[0100] If the pantograph and the contact network reach a stable state, S6 is executed to calculate the static contact force according to the pantograph lifting torque.

[0101] In the embodiment of the present invention, when the pantograph and the contact network reach a stable state, it means that the vertical displacement of the air spring reaches a maximum value and remains constant for a certain period of time. The spring force at this time is the static contact force.

[0102] In an embodiment of the present invention, calculating the static contact force according to the lifting moment includes:

[0103] The static contact force is calculated using the following formula:

[0104]

[0105] in, is the static contact force, M is the bow-lifting moment, and L is the horizontal distance from the center of mass of the lower arm of the pantograph to the point of force application in a stable state.

[0106] In an embodiment of the present invention, the pantograph raising and lowering pressure is obtained by utilizing the basic model of the relationship between spring force and displacement, and then the pantograph raising torque is calculated. When the pantograph and the contact network are in a stable state, the static contact force is calculated, thereby improving the efficiency of detecting the pantograph raising and lowering pressure and the static contact force.

[0107] Embodiment 2

[0108] Based on the above embodiments, this embodiment provides an application example.

[0109] The purpose of this patent is to provide a technical method for non-manual measurement of pantograph pressure and static contact force by using air spring displacement to address the above-mentioned problems, so as to realize non-contact detection of pantograph pressure and static contact force.

[0110] The technical solution is as follows:

[0111] A method for detecting pantograph lifting and lowering pressure and static contact force comprises a displacement sensor and a data acquisition device. The displacement sensor is connected to an air spring, and an output end is connected to the data acquisition device.

[0112] The data acquisition equipment is only used to store the displacement data obtained by the displacement sensor. Since the lifting and lowering of the pantograph is controlled by the guy wire, and the elongation of the guy wire is controlled by the displacement of the air spring, the displacement generated by the air spring can be used to determine whether the pantograph is lifted or lowered, and the specific shape of the pantograph when lifting or lowering the pantograph can be determined based on the size of the displacement generated by the air spring. When the measured displacement of the air spring reaches the maximum and is constant, the contact between the pantograph and the contact network reaches a stable state.

[0113] By adopting the above-mentioned equipment, when the pantograph is raised or lowered, the displacement data of the air spring is obtained and the pantograph raising or lowering pressure and the static contact force can be obtained by calculation through the given model algorithm.

[0114] The main principles of the model algorithm used in this article are:

[0115] First, there is a basic model based on the air spring force / displacement relationship for air springs operating at pressures of 3 bar and 4.5 bar:

[0116]

[0117]

[0118] Among them, x is the vertical displacement of the air spring, A*=dV / dh represents the volume change rate of the air spring relative to the vertical displacement, that is, the effective area at different heights. F and represent the vertical contact force between the air spring and the hydraulic actuator and the effective area of ​​the air spring respectively. It is the static air pressure value when the air spring and its entire pneumatic system are in equilibrium, which is a constant. τ is an unknown delay set by humans. The remaining parameters are based on the actual working environment and measurement of the air spring. The parameter measurement method is as follows:

[0119] The structure of the air spring and its attached pneumatic system, wherein the air spring is a pantograph-mounted bag-type air spring, one end of which is fixed to the pressure sensor, and the other end is fixed to the hydraulic actuator, and the hydraulic actuator is only represented as an input displacement loaded on the upper end of the air spring. At the same time, the upper end of the air spring is connected by a rubber pipe, and the other end is connected to the inner side of a pneumatic pressure regulating valve with a manual control valve, and the outer side of the pneumatic pressure regulating valve is directly connected to an external air pump, which can be considered to be able to fully, continuously and stably provide any amount of air pressure for the air spring and its attached pneumatic system according to the actual test situation. The air pressure inside the air spring can be considered to be completely determined by the pneumatic pressure regulating valve, and the vertical displacement of the air spring is measured by the electric signal wire displacement sensor on the hydraulic actuator.

[0120] According to the model, the pantograph lifting force can be obtained, and then the pantograph lifting moment M can be obtained, and the pantograph moment balance condition can be obtained:

[0121] M-m3g·x3-m2g·x2-m1g·x1-F·x1=0

[0122] m3, m2, and m1 are the equivalent masses of the lower arm, upper arm, and bow head, respectively. x3, x2, and x1 are the horizontal distances from their center of mass to the action points of the guy wire and the lower arm, respectively.

[0123] The elongation of the pull wire can be obtained based on the displacement of the air spring, and then the angular displacement of the lower arm when the pantograph is raised or lowered can be obtained. In this way, the specific shape of the pantograph at any time when it is raised or lowered can be known, and the pantograph pressure F can be calculated based on the above formula. If the displacement reaches the maximum and is constant, it means that the pantograph is in contact with the contact network and reaches a stable state. At this time, it also reaches the maximum value, and F is the static contact force.

[0124] Embodiment 3

[0125] like Figure 3 , which is a functional module diagram of a pantograph pressure and contact force detection device provided for this embodiment.

[0126] The pantograph pressure and contact force detection device 100 of the present invention can be installed in an electronic device. According to the functions to be implemented, the pantograph pressure and contact force detection device 100 can include a data acquisition module 101, a lifting judgment module 102, a stability judgment module 103 and a data calculation module 104. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0127] In this embodiment, the functions of each module / unit are as follows:

[0128] The data acquisition module 101 is used to acquire the displacement data of the preset air spring by using an acquisition device;

[0129] The lifting and lowering judgment module 102 is used to judge whether the pantograph is lifted or lowered according to the displacement data, and if the pantograph is not lifted or lowered, return to the step of using the acquisition device to obtain the displacement data of the preset air spring;

[0130] The stability judgment module 103 is used to judge whether the pantograph and the contact network have reached a stable state according to the displacement data, and if the pantograph and the contact network have not reached a stable state, return to the step of judging whether the pantograph and the contact network have reached a stable state according to the displacement data;

[0131] The data calculation module 104 calculates the pantograph pressure according to the displacement data if the pantograph is raised or lowered, and calculates the pantograph lifting torque according to the pantograph pressure if the pantograph is raised or lowered, and calculates the static contact force according to the pantograph lifting torque if the pantograph and the contact network reach a stable state.

[0132] Embodiment 4

[0133] Based on the above embodiments, this embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory. When the processor executes the computer program, the following can be achieved:

[0134] Using a collection device to obtain preset displacement data of the air spring;

[0135] judging whether the pantograph is raised or lowered according to the displacement data;

[0136] If the pantograph does not rise or fall, return to the step of using the acquisition device to obtain the displacement data of the preset air spring;

[0137] If the pantograph is raised or lowered, the pantograph raising or lowering pressure is calculated according to the displacement data using a pre-constructed basic model of the relationship between spring force and displacement;

[0138] Calculating the bow lifting moment according to the bow lifting pressure;

[0139] Determining whether the pantograph and the contact network have reached a stable state according to the displacement data;

[0140] If the pantograph and the contact network have not reached a stable state, returning to the step of judging whether the pantograph and the contact network have reached a stable state according to the displacement data;

[0141] If the pantograph and the contact network reach a stable state, the static contact force is calculated according to the pantograph lifting torque.

[0142] In some implementations of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, the following can be achieved:

[0143] Using a collection device to obtain preset displacement data of the air spring;

[0144] judging whether the pantograph is raised or lowered according to the displacement data;

[0145] If the pantograph does not rise or fall, return to the step of using the acquisition device to obtain the displacement data of the preset air spring;

[0146] If the pantograph is raised or lowered, the pantograph raising or lowering pressure is calculated according to the displacement data using a pre-constructed basic model of the relationship between spring force and displacement;

[0147] Calculating the bow lifting moment according to the bow lifting pressure;

[0148] Determining whether the pantograph and the contact network have reached a stable state according to the displacement data;

[0149] If the pantograph and the contact network have not reached a stable state, returning to the step of judging whether the pantograph and the contact network have reached a stable state according to the displacement data;

[0150] If the pantograph and the contact network reach a stable state, the static contact force is calculated according to the pantograph lifting torque.

[0151] In some implementations of this embodiment, a computer program product is provided, including a computer program, characterized in that when the computer program is executed by a processor, the steps of the method described in the above embodiment are implemented.

[0152] The processor may include, but is not limited to, one or more processors or microprocessors, etc. Each processor may be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components to execute the methods in the above embodiments.

[0153] Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Computer-readable storage media may include, but are not limited to, for example, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, computer storage media (such as hard disks, floppy disks, solid-state drives, removable disks, Blu-ray disks, etc.).

[0154] The computer-readable storage medium may also store at least one computer executable program / instruction, which may be, for example, a computer-readable instruction. The computer-readable storage medium includes, but is not limited to, for example, a volatile memory and / or a non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The computer-readable storage medium may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs the computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed.

[0155] In addition, the computer device may also include (but not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (eg, keyboard, mouse, speaker, etc.), etc.

[0156] The processor may communicate with external devices via an I / O bus via a wired or wireless network.

[0157] In one embodiment, the at least one computer executable instruction may also be compiled into or constitute a software product / computer program product, wherein one or more computer executable instructions are executed by a processor to perform the various functions and / or method steps in the embodiments described in the present technology.

[0158] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0159] It should be noted that in the present disclosure, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element limited by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0160] Although the embodiments disclosed in the present disclosure are as above, the above contents are only embodiments adopted for facilitating the understanding of the present disclosure and are not intended to limit the present disclosure. Any technician in the technical field to which the present disclosure belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present disclosure, but the scope of patent protection of the present disclosure shall still be subject to the scope defined in the attached claims.

Claims

1. A method for detecting pantograph pressure and contact force, characterized in that: include: Using a collection device to obtain preset displacement data of the air spring; judging whether the pantograph is raised or lowered according to the displacement data; If the pantograph does not rise or fall, return to the step of using the acquisition device to obtain the displacement data of the preset air spring; If the pantograph is raised or lowered, the pantograph raising or lowering pressure is calculated according to the displacement data using a pre-constructed basic model of the relationship between spring force and displacement; Calculating the bow lifting moment according to the bow lifting pressure; Determining whether the pantograph and the contact network have reached a stable state according to the displacement data; If the pantograph and the contact network have not reached a stable state, returning to the step of judging whether the pantograph and the contact network have reached a stable state according to the displacement data; If the pantograph and the contact network reach a stable state, the static contact force is calculated according to the pantograph lifting torque.

2. The method according to claim 1, characterized in that The method of obtaining the preset displacement data of the air spring by using the acquisition device includes: Initialize the preset displacement sensor; Using the initialized displacement sensor to obtain position change data of the air spring at preset time intervals; The displacement data is obtained by analyzing the position change data.

3. The method according to claim 2, characterized in that Before calculating the lifting bow pressure according to the displacement data using the pre-built basic model of the relationship between spring force and displacement, the method further includes: The basic model of the relationship between spring force and displacement is expressed by the following formula: Wherein, F is the lifting bow pressure, x is the displacement data, is the volume change rate of the air spring relative to the displacement data, A eff is the effective area of ​​the air spring, ΔA eff is the change in the effective area of ​​the air spring, P0 is the static air pressure value when the air spring is in equilibrium, τ is the preset delay, V0 is the volume of the air spring, n is a constant that controls the relationship between the air pressure value and the volume, ω is the preset angular frequency, ξ is the predetermined damping coefficient, s is the preset standard height of the air spring, j is a preset imaginary number, u is the preset reference angular frequency, σ is the preset maximum angular frequency, e is the base of the natural logarithm, K1, K2, K3 are the preset first weight coefficient, the second weight coefficient, and the third weight coefficient, respectively.

4. The method according to claim 3, characterized in that: The calculating the bow lifting moment according to the bow lifting pressure comprises: The lifting moment is calculated using the following formula: M=m1g·x1+m2g·x2+m3g·x3+F·x1 Among them, M is the bow raising torque, m1, m2, m3 are the equivalent masses of the lower arm, upper arm, and bow head in the pantograph respectively, x1 is the horizontal distance from the center of mass of the lower arm to the point of force application, x2 is the horizontal distance from the center of mass of the upper arm to the point of force application, x3 is the horizontal distance from the center of mass of the bow head to the point of force application, and F is the bow raising and lowering pressure.

5. The method according to claim 4, characterized in that The step of judging whether the pantograph and the contact network have reached a stable state according to the displacement data includes: Determining whether the displacement data reaches a preset maximum displacement; If the displacement data does not reach the preset maximum displacement, returning to the step of determining whether the displacement data reaches the preset maximum displacement; If the displacement data reaches a preset maximum displacement, determining whether the displacement data remains constant within a preset time period; If the displacement data does not remain constant within the preset time period, returning to the step of determining whether the displacement data reaches a preset maximum displacement; If the displacement data remains constant within a preset time period, it is determined that the preset contact network of the pantograph has reached a stable state.

6. The method according to claim 5, characterized in that The step of calculating the static contact force according to the lifting moment comprises: The static contact force is calculated using the following formula: in, is the static contact force, M is the bow-lifting moment, and L is the horizontal distance from the center of mass of the lower arm of the pantograph to the point of force application in a stable state.

7. A pantograph pressure and contact force detection device, characterized in that: include: A data acquisition module, used to acquire preset displacement data of the air spring using an acquisition device; A lifting judgment module, used for judging whether the pantograph is lifted or lowered according to the displacement data, and if the pantograph is not lifted or lowered, returning to the step of obtaining the displacement data of the preset air spring by using the acquisition device; a stability judgment module, used for judging whether the pantograph and the contact network have reached a stable state according to the displacement data, and if the pantograph and the contact network have not reached a stable state, returning to the step of judging whether the pantograph and the contact network have reached a stable state according to the displacement data; The data calculation module calculates the pantograph pressure according to the displacement data if the pantograph is raised or lowered, and the lifting bow torque is calculated according to the lifting bow pressure. If the pantograph and the contact network reach a stable state, the static contact force is calculated according to the lifting bow torque.

8. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images