A method and device for actively controlling vibration of a contact network pantograph

Abstract

The present application is applicable to the technical field of train pantograph control technology, and in particular, relates to a method and device for actively controlling the vibration of a contact network pantograph, the method comprising: obtaining the sign of the vibration control data of two pantographs; obtaining the control time corresponding to the vibration control data of the two pantographs; and performing the coordination of the vibration control of the two pantographs based on the sign of the vibration control data of the two pantographs and the control time corresponding to the vibration control data of the two pantographs. The method for actively controlling the vibration of a contact network pantograph provided in the present application can solve the problem that when a traditional pantograph is running at high speed, it cannot be dynamically adjusted according to the actual situation of the train operation, and is prone to generate large vibrations, resulting in unstable contact between the pantograph and the contact network, thereby affecting the stability of current transmission.

Description

Technical Field

[0001] The present application belongs to the technical field of train pantograph control technology, and in particular, relates to a method and device for actively controlling vibration of a contact network pantograph. Background Art

[0002] The pantograph is one of the key devices for electric trains to obtain electricity and is widely used in railway electrification systems, especially high-speed railways, urban rail transit and some long-distance railways. It collects current to supply traction power to trains or vehicles by contacting the overhead line.

[0003] When running at high speeds, traditional pantographs cannot be dynamically adjusted according to the actual conditions of the train operation, and are prone to produce large vibrations, resulting in unstable contact between the pantograph and the contact network, thereby affecting the stability of current transmission. Summary of the invention

[0004] The embodiments of the present application provide a method and device for actively controlling the vibration of a contact network pantograph, which can solve the problem that when a traditional pantograph is running at high speed, it is impossible to dynamically adjust according to the actual situation of the train operation, which easily generates large vibrations, resulting in unstable contact between the pantograph and the contact network, thereby affecting the stability of current transmission.

[0005] In a first aspect, an embodiment of the present application provides a method for actively controlling vibration of a contact network pantograph, comprising:

[0006] Obtaining the sign of the vibration control data of the two pantographs; wherein the vibration control data is used to adjust the control parameters of the pantograph by the active vibration control device of the overhead line pantograph;

[0007] Obtaining the control time corresponding to the vibration control data of the two pantographs;

[0008] The vibration control of the two pantographs is coordinated based on the signs of the vibration control data of the two pantographs and the control times corresponding to the vibration control data of the two pantographs.

[0009] The above technical solutions in the embodiments of the present application have at least the following technical effects:

[0010] The contact network pantograph vibration active control method provided by the present application can obtain more comprehensive information basis by obtaining the signs of the vibration control data of the two pantographs, and provide data support for subsequent data analysis and decision-making, so that the subsequent vibration control can be adjusted according to the actual situation, avoiding invalid adjustment operations, thereby helping to improve the stability of current transmission. Secondly, by obtaining the control time corresponding to the vibration control data of the two pantographs, it is helpful to analyze the vibration control data in different time periods, so that the subsequent vibration control can be adjusted according to the actual situation, avoiding invalid adjustment operations, thereby helping to improve the stability of current transmission. Then, based on the signs of the vibration control data of the two pantographs and the control time corresponding to the vibration control data of the two pantographs, the vibration control of the two pantographs is coordinated, and vibration control can be combined with various information, thereby helping to make the vibration control of the two pantographs accurately coordinated according to the actual situation, preventing the problem of contact instability caused by excessive vibration or insufficient vibration, thereby helping to improve the stability of current transmission.

[0011] In a possible implementation of the first aspect, the overhead pantograph vibration active control device includes an upper pantograph control device and a lower pantograph control device, the upper pantograph control device has the ability to control the upper pantograph, and the lower pantograph control device has the ability to control the lower pantograph, and based on the signs of the vibration control data of the two pantographs and the control time corresponding to the vibration control data of the two pantographs, the coordination of the vibration control of the two pantographs is performed, including:

[0012] When the vibration control data of the target pantograph is obtained as a preset mark, and the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, the vibration control coordination is performed according to the vibration control data of the non-target pantograph; wherein the preset mark is used to indicate that the vibration control switching is performed when the current pantograph control device is the target device, and the control time is the time when the current pantograph control device receives the vibration control data, or the control time is the time when the vibration control switching is performed when the current pantograph control device receives the vibration control data; the vibration control data of the target pantograph is used to indicate whether the vibration control switching is performed when the current pantograph control device is the target device; the target pantograph is one of the upper pantograph or the lower pantograph;

[0013] When the vibration control data of the target pantograph is obtained as a target mark, vibration control coordination is performed according to the vibration control data of the non-target pantograph; wherein the target mark is used to indicate that vibration control switching is performed when the current pantograph control device is not the target device.

[0014] In a possible implementation of the first aspect, when the vibration control data of the target pantograph is obtained as a preset mark, and the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, performing vibration control coordination according to the vibration control data of the non-target pantograph includes:

[0015] Acquire first information; wherein the first information includes the vibration control data of the target pantograph, the control time corresponding to the vibration control data of the target pantograph, and the sign corresponding to the vibration control data of the target pantograph;

[0016] Acquire second information; wherein the second information includes the vibration control data of the non-target pantograph, the control time corresponding to the vibration control data of the non-target pantograph, and the sign corresponding to the vibration control data of the non-target pantograph;

[0017] When the vibration control data of the target pantograph is obtained as a preset mark, and the vibration control data of the non-target pantograph is not a preset mark, if the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, vibration control coordination is performed according to the vibration control data of the non-target pantograph.

[0018] In a possible implementation manner of the first aspect, the method further includes:

[0019] In a case where no vibration control activity is created between a target pantograph control device and a non-target pantograph control device, if the creation of a vibration control activity is obtained, first information is obtained, and second information is obtained; wherein the target pantograph control device is one of the upper pantograph control device or the lower pantograph control device, and the non-target pantograph control device is one of the upper pantograph control device or the lower pantograph control device, and is a device different from the target pantograph control device.

[0020] In a possible implementation manner of the first aspect, the method further includes:

[0021] When the vibration control data of the target pantograph is a preset mark and the control time corresponding to the vibration control data of the target pantograph is greater than or equal to the control time corresponding to the vibration control data of the non-target pantograph, vibration control coordination is not performed.

[0022] In a possible implementation manner of the first aspect, before acquiring the second information, the method further includes:

[0023] The target pantograph control device acquires vibration control data sent by the control device;

[0024] Adjusting the vibration control data of the target pantograph to a preset mark, and adjusting the control time corresponding to the vibration control data of the target pantograph;

[0025] The target pantograph control device performs switching of the vibration control based on the vibration control data.

[0026] In a possible implementation manner of the first aspect, when the target pantograph control device is a target device and is preparing to create a vibration control activity with the non-target pantograph control device, and no vibration control activity is created between the target pantograph control device and the non-target pantograph control device, the method further includes:

[0027] The target pantograph control device acquires the vibration control data sent by the control device;

[0028] Adjusting the vibration control data of the target pantograph to a preset mark, and adjusting the control time corresponding to the vibration control data of the target pantograph;

[0029] The target pantograph control device performs switching of the vibration control based on the vibration control data.

[0030] In a possible implementation manner of the first aspect, the method further includes:

[0031] Obtaining working information; wherein the working information is used to reflect whether the pantograph is in a preset working area;

[0032] In a case where the working information reflects that the pantograph is in a preset working area, if the adjustment information is monitored, detecting the vibration information of the pantograph;

[0033] The pantograph is controlled to perform vibration adjustment according to the adjustment information and the vibration information.

[0034] In a possible implementation manner of the first aspect, controlling the pantograph to perform vibration adjustment according to the adjustment information and the vibration information includes:

[0035] When the vibration information reflects that the current vibration amplitude of the pantograph exceeds the first preset amplitude, and the adjustment information is information for reducing the vibration, controlling the vibration amplitude of the pantograph to be reduced to a target amplitude;

[0036] When the vibration information reflects that the current vibration amplitude of the overhead contact network pantograph does not exceed the second preset amplitude, and the adjustment information is information for increasing the vibration, the vibration amplitude of the pantograph is controlled to increase to the target amplitude.

[0037] In a second aspect, an embodiment of the present application provides a contact network pantograph vibration active control system, which is used to implement the contact network pantograph vibration active control method described in any one of the first aspects above, and the contact network pantograph vibration active control system is applied to a contact network pantograph vibration active control device, and the contact network pantograph vibration active control system includes:

[0038] An acquisition unit, which acquires the sign of the vibration control data of the two pantographs; wherein the vibration control data is used to adjust the control parameters of the pantographs;

[0039] A detection unit, used for obtaining control time corresponding to vibration control data of two pantographs;

[0040] The control unit is used to coordinate the vibration control of the two pantographs based on the signs of the vibration control data of the two pantographs and the control time corresponding to the vibration control data of the two pantographs.

[0041] In a third aspect, an embodiment of the present application provides a device for actively controlling vibration of a contact network pantograph, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for actively controlling vibration of a contact network pantograph described in any one of the first aspects above is implemented.

[0042] It can be understood that the beneficial effects of the second to third aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 It is a flow chart of a method for actively controlling the vibration of a contact network pantograph provided in one embodiment of the present application;

[0045] Figure 2 It is a schematic diagram of the implementation process of the coordination of vibration control in the method for active vibration control of the overhead line pantograph provided in one embodiment of the present application;

[0046] Figure 3 It is a schematic diagram of the implementation process of controlling the vibration amplitude of the pantograph in the method for actively controlling the vibration of the overhead line pantograph provided in one embodiment of the present application;

[0047] Figure 4It is a structural schematic diagram of an active control system for a catenary pantograph vibration provided in an embodiment of the present application;

[0048] Figure 5 It is a schematic diagram of the structure of the contact network pantograph vibration active control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0050] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0051] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0052] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if the described condition or event is detected" can be interpreted as meaning "uponce determined" or "in response to determining" or "uponce the described condition or event is detected" or "in response to detecting the described condition or event" depending on the context.

[0053] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0054] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0055] In related technologies, the pantograph is one of the key devices for electric trains to obtain electricity, and is widely used in railway electrification systems, especially high-speed railways, urban rail transit, and some long-distance railways. It collects current to supply traction power to trains or vehicles by contacting the overhead line.

[0056] When running at high speeds, traditional pantographs cannot be dynamically adjusted according to the actual conditions of the train operation, and are prone to produce large vibrations, resulting in unstable contact between the pantograph and the contact network, thereby affecting the stability of current transmission.

[0057] In order to solve the above problems, the embodiments of the present application provide a method and device for actively controlling the vibration of a contact network pantograph.

[0058] In this method, by obtaining the signs of the vibration control data of the two pantographs, more comprehensive information basis can be obtained, providing data support for subsequent data analysis and decision-making, so that the subsequent vibration control can be adjusted according to the actual situation, avoiding invalid adjustment operations, thereby helping to improve the stability of current transmission. Secondly, by obtaining the control time corresponding to the vibration control data of the two pantographs, it is helpful to analyze the vibration control data in different time periods, so that the subsequent vibration control can be adjusted according to the actual situation, avoiding invalid adjustment operations, thereby helping to improve the stability of current transmission. Then, based on the signs of the vibration control data of the two pantographs and the control time corresponding to the vibration control data of the two pantographs, the coordination of the vibration control of the two pantographs is performed, and vibration control can be performed in combination with various information, thereby helping to make the vibration control of the two pantographs accurately coordinated according to the actual situation, preventing the problem of contact instability caused by excessive vibration or insufficient vibration, thereby helping to improve the stability of current transmission.

[0059] The contact network pantograph vibration active control method provided in the embodiment of the present application can be applied to the contact network pantograph vibration active control device. At this time, the contact network pantograph vibration active control device is the executor of the contact network pantograph vibration active control method provided in the embodiment of the present application. The embodiment of the present application does not impose any restrictions on the specific type of the contact network pantograph vibration active control device.

[0060] For example, the contact network pantograph vibration active control device may include an upper pantograph control device (for example, it may include a servo motor (for adjusting the height and angle of the upper pantograph) and a vibration sensor (for monitoring the vibration information of the upper pantograph), etc.), a lower pantograph control device (it may include a servo motor (for adjusting the height and angle of the lower pantograph), a vibration sensor (for monitoring the vibration information of the lower pantograph), a mechanical support frame (for providing mechanical support for the lower pantograph and the upper pantograph control device, etc.) and a control device. The control device is communicatively connected to the upper pantograph control device and the lower pantograph control device, respectively. The control device may control the upper pantograph control device or the lower pantograph control device to perform vibration control on the pantograph based on the adjustment information and the vibration information.

[0061] For example, the control device can be a single chip microcomputer, a mobile phone, a tablet computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a desktop computer, a computing device or a computer connected to a wireless modem, a laptop computer, a handheld communication device, a handheld computing device, etc.

[0062] In order to better understand the method for actively controlling the vibration of a catenary pantograph provided in the embodiment of the present application, the specific implementation process of the method for actively controlling the vibration of a catenary pantograph provided in the embodiment of the present application is exemplarily introduced below.

[0063] Figure 1 A schematic flow chart of a method for actively controlling the vibration of a catenary pantograph provided in an embodiment of the present application is shown. The method for actively controlling the vibration of a catenary pantograph comprises:

[0064] S100, obtaining the signs of the vibration control data of the two pantographs, wherein the vibration control data is used to adjust the control parameters of the pantograph by the active vibration control device of the overhead line pantograph.

[0065] It is understood that the mark may be a mark indicating whether the current device has executed the switching of the vibration control. For example, the mark may be a preset mark or a target mark. The vibration control data may be data for adjusting the pressure, data for adjusting the angle, etc.

[0066] For example, the signs are associated with the vibration data to form a table or a database, and the signs of the vibration control data of the two pantographs can be obtained by querying the table or the database.

[0067] With such a setting, by obtaining the signs of the vibration control data of the two pantographs, a more comprehensive information basis can be obtained, providing data support for subsequent data analysis and decision-making, so that the subsequent vibration control can be adjusted according to the actual situation and invalid adjustment operations can be avoided, which helps to improve the stability of current transmission.

[0068] S200, obtaining control time corresponding to vibration control data of two pantographs.

[0069] It can be understood that the control time may be the time when the vibration control data is acquired, for example, the time when the user inputs the vibration control data.

[0070] For example, the time of the vibration control data may be acquired through a time record built into the system.

[0071] Such a setting, by obtaining the control time corresponding to the vibration control data of the two pantographs, helps to analyze the vibration control data in different time periods, so that the subsequent vibration control can be adjusted according to the actual situation and invalid adjustment operations can be avoided, thereby helping to improve the stability of current transmission.

[0072] S300, performing coordination of vibration control of the two pantographs based on the signs of the vibration control data of the two pantographs and the control times corresponding to the vibration control data of the two pantographs.

[0073] It can be understood that the coordination of vibration control can be that the two pantographs use consistent vibration control data so that the two pantographs can operate normally.

[0074] For example, it is possible to analyze what kind of sign a vibration control data sign is, and then determine the size of the control time corresponding to one vibration control data and the control time corresponding to another vibration control data. When the vibration control data of the target pantograph obtained is a preset sign, and the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, the vibration control coordination is performed according to the vibration control data of the non-target pantograph; conversely, when the vibration control data of the target pantograph obtained is a target sign, the vibration control coordination is performed according to the vibration control data of the non-target pantograph.

[0075] With such a setting, the vibration control of the two pantographs is coordinated based on the signs of the vibration control data of the two pantographs and the control time corresponding to the vibration control data of the two pantographs. This can combine various information for vibration control, thereby helping to accurately coordinate the vibration control of the two pantographs according to actual conditions, preventing contact instability caused by excessive vibration or insufficient vibration, and thereby helping to improve the stability of current transmission.

[0076] In a possible implementation, the overhead pantograph vibration active control device includes an upper pantograph control device and a lower pantograph control device, the upper pantograph control device has the ability to control the upper pantograph, and the lower pantograph control device has the ability to control the lower pantograph. S300, based on the signs of the vibration control data of the two pantographs and the control time corresponding to the vibration control data of the two pantographs, performs the coordination of the vibration control of the two pantographs, including:

[0077] S310, when the vibration control data of the target pantograph is obtained as a preset mark, and the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, the vibration control coordination is performed according to the vibration control data of the non-target pantograph. The preset mark is used to indicate that the vibration control switching is performed when the current pantograph control device is the target device, and the control time is the time when the current pantograph control device receives the vibration control data, or the control time is the time when the vibration control switching is performed when the current pantograph control device receives the vibration control data. The vibration control data of the target pantograph is used to indicate whether the vibration control switching is performed when the current pantograph control device is the target device.

[0078] It can be understood that the device started first can be the target device, and the device started later can be the non-target device. The device that first monitors the adjustment information (for example, information on adjusting pressure, information on adjusting angle) can also be the target device. When creating a vibration control activity between the target device and the control device (for example, the purpose of creating a vibration control activity, the control target, such as pressure, angle, etc., can be created by text input), the vibration control data sent by the control device can be obtained, and the vibration control mode (for example, the pressure applied by the pantograph, the angle of the pantograph), algorithm optimization and other related control information can be switched based on the vibration control data, and the vibration control data can be sent to the non-target device, so that the non-target device can switch the vibration control mode (for example, the pressure applied by the pantograph, the angle of the pantograph), the optimization of the vibration algorithm and other related control information based on the vibration control data, so that the two devices can coordinately perform fine vibration adjustment on the pantograph.

[0079] It should be noted that since the device that is started first or the device that first listens to the adjustment information needs to send the vibration control data to the non-target device, the data may not be sent successfully during this process. When the previous target device becomes a non-target device, the previously acquired vibration control data may be discarded, resulting in the inability to switch the vibration control mode (for example, the pressure applied by the pantograph, the angle of the pantograph), algorithm optimization and vibration strategy (for example, dynamically adjusting the vibration control mode according to real-time data, such as when the vibration information reflects that the current vibration amplitude of the contact network pantograph does not exceed the preset amplitude, or when the vibration information reflects that the current vibration amplitude of the contact network pantograph exceeds the preset amplitude, how to perform vibration control), which leads to the inability of the two devices to finely adjust the vibration of the pantograph. The following describes possible scenarios.

[0080] Scenario 1: The vibration control data of the target device and the non-target device after the previous vibration control is coordinated are vibration strategy t and vibration strategy t. The upper pantograph control device currently becomes the target device, while the non-target device is in standby mode or ready-to-start mode. At this time, the target device has not created a vibration control activity with the non-target device. The operator switches the vibration control data of the target device (upper pantograph control device) to vibration strategy r through the control device, and the non-target device does not obtain the vibration control data. At this time, the target intention is that the vibration strategies corresponding to the two pantographs should be vibration strategy r, that is, vibration strategy r and vibration strategy r, but the actual situation is vibration strategy r and vibration strategy t, that is, the target device is vibration strategy r and the non-target device is vibration strategy t. During the subsequent vibration control, the target device and the non-target device create a vibration control activity, and the lower pantograph control device becomes the target device. The lower pantograph control device sends the vibration control data to the non-target device, that is, the vibration control data after the vibration control is performed is vibration strategy t, which is different from the vibration strategy r corresponding to the target intention, which makes it impossible for the two devices to perform fine vibration adjustment on the pantograph.

[0081] In scenario 2, the vibration control data of the target device and the non-target device after the previous vibration control is vibration strategy t, vibration strategy t. At present, the upper pantograph control device becomes the target device, and the operator switches the vibration control data of the target device (upper pantograph control device) to vibration strategy r through the control device, but due to signal instability or interference, the non-target device does not obtain the vibration control data. At this time, the target intention is that the vibration strategies corresponding to the two pantographs should be vibration strategy r, that is, vibration strategy r, vibration strategy r, but the actual situation is vibration strategy r, vibration strategy t, that is, the target device is vibration strategy r, and the non-target device is vibration strategy t. In the subsequent vibration control, the problem of signal instability or interference is fixed, but the lower pantograph control device becomes the target device, and the lower pantograph control device sends the vibration control data to the non-target device, that is, the vibration control data after the vibration control is coordinated is vibration strategy t, vibration strategy t, which is different from the vibration strategy r corresponding to the target intention, which makes it impossible for the two devices to perform fine vibration adjustment on the pantograph.

[0082] Scenario 3, the vibration control data of the target device and the non-target device after the previous vibration control is coordinated are vibration strategy t, vibration strategy t. The lower pantograph control device currently becomes the target device, and the non-target device is in standby mode or ready-to-start mode. At this time, the target device has not created a vibration control activity with the non-target device. The operator switches the vibration control data of the target device to vibration strategy r through the control device, and the non-target device does not obtain the vibration control data, that is, the vibration control data is not switched. Then, the lower pantograph control device is in standby mode or ready-to-start mode, and the upper pantograph control device is not in standby mode or ready-to-start mode. At this time, the upper pantograph control device becomes the target device, and the vibration control data of the target device is switched to vibration strategy g through the control device. At this time, the target intention is that the vibration strategies corresponding to the two pantographs should be vibration strategy g, that is, vibration strategy g, vibration strategy g. During the subsequent vibration control, neither the upper pantograph control device nor the lower pantograph control device was in standby mode or ready-to-start mode, and the lower pantograph control device became the target device. The lower pantograph control device sent the vibration control data to the non-target device, that is, the vibration control data after the vibration control was performed was vibration strategy t, vibration strategy t, which was different from the vibration strategy g corresponding to the target intention, which resulted in the two devices being unable to perform fine vibration adjustment on the pantograph.

[0083] In summary, when the vibration control data of the target pantograph is obtained as a preset mark, and the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, it means that the target pantograph control device has been changed to the target device, and the vibration control data has been switched, that is, the vibration control switch has been executed (for example, the previous pantograph control device described in Scenario 3 has been changed to the target device, and the operator switches the vibration control data of the target device to vibration strategy r through the control device), but the control time corresponding to the vibration control data of the target pantograph is less than the vibration control data of the non-target pantograph. The control time corresponding to the control data, that is, the vibration control data of the non-target pantograph is the data of the most recent vibration control switching from the current time (for example, the time when the vibration control data of the upper pantograph control device in scenario 3 switches to vibration strategy g is the time closest to the current time), which can meet the required target intention. Therefore, the non-target pantograph control device (upper pantograph control device) can send the vibration control data to the target pantograph control device (lower pantograph control device) so that the vibration strategies corresponding to the two pantographs should be the required vibration strategies, that is, the coordination of vibration control is performed according to the vibration control data of the lower pantograph.

[0084] Such a setting can avoid the problem that when the previous target device becomes a non-target device, the previously acquired vibration control data may be discarded, resulting in the inability to switch the vibration control mode based on the previous vibration control data. This helps to adapt to different working conditions or environments and maintain effective vibration control.

[0085] In a possible implementation, S310, when the vibration control data of the target pantograph is obtained as a preset mark and the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, performing vibration control coordination according to the vibration control data of the non-target pantograph includes:

[0086] S311, obtaining first information, wherein the first information includes vibration control data of a target pantograph, a control time corresponding to the vibration control data of the target pantograph, and a sign corresponding to the vibration control data of the target pantograph.

[0087] For example, the vibration control data may include data such as the pressure applied by the pantograph, the angle of the pantograph, etc., data such as algorithm optimization and vibration strategy, etc. The vibration control data may be obtained by querying a log or querying a memory.

[0088] For example, when the vibration control data is acquired, the time when the data is acquired can be recorded, for example, the time can be obtained through a built-in clock, a system time or an external time.

[0089] For example, when the vibration control data is acquired and the vibration control switch is performed, a unique mark can be generated. The mark can be a number, a string, or a specific coding form to distinguish whether the vibration control switch is performed when the current pantograph control device is the target device, or when the vibration control switch is performed when the current pantograph control device is not the target device.

[0090] Such a setting can provide basic data for subsequent execution of different decisions under different working conditions or environments, and help improve the fine vibration regulation of the pantograph.

[0091] S312, obtaining second information, wherein the second information includes vibration control data of the non-target pantograph, control time corresponding to the vibration control data of the non-target pantograph, and a sign corresponding to the vibration control data of the non-target pantograph.

[0092] For example, when the vibration control data is acquired, the time when the data is acquired can be recorded, for example, the time can be obtained through a built-in clock, a system time or an external time.

[0093] For example, when the vibration control data is acquired and the vibration control switch is performed, a unique mark can be generated. The mark can be a number, a string, or a specific coding form to distinguish whether the vibration control switch is performed when the current pantograph control device is the target device, or when the vibration control switch is performed when the current pantograph control device is not the target device.

[0094] Such a setting can provide basic data for subsequent execution of different decisions under different working conditions or environments, and help improve the fine vibration regulation of the pantograph.

[0095] In a possible implementation, before obtaining the second information in step S312, the method for actively controlling the vibration of a contact network pantograph further includes:

[0096] S322, the target pantograph control device obtains the vibration control data sent by the control device.

[0097] It can be understood that the vibration control data sent by the control device can be obtained through Ethernet and cables in an event polling manner.

[0098] Such a setting can provide basic data for subsequent execution of different decisions under different working conditions or environments, and help improve the fine vibration regulation of the pantograph.

[0099] S323, adjusting the vibration control data of the target pantograph to a preset mark, and adjusting the control time corresponding to the vibration control data of the target pantograph.

[0100] It can be understood that the device that is started first and obtains the vibration control data can be determined as the target device, so the vibration control data of the target pantograph can be adjusted to a preset mark. At the same time, the control time corresponding to the current vibration control data replaces the control time corresponding to the previous vibration control data, that is, the control time corresponding to the vibration control data of the target pantograph is adjusted.

[0101] Such a setting can provide basic data for subsequent execution of different decisions under different working conditions or environments, and help improve the fine vibration regulation of the pantograph.

[0102] S324, the target pantograph control device performs switching of vibration control based on the vibration control data.

[0103] It can be understood that by parsing the information in the vibration control data (such as control instructions, pressure, angle control data, timestamp, etc.), the corresponding control strategy is executed, that is, the switching of vibration control is performed based on the vibration control data.

[0104] This arrangement allows for a timely response when new vibration control data is obtained, helping to improve the overall vibration control effect and ensure good contact between the pantograph and the contact wire.

[0105] In a possible implementation, when the target pantograph control device is preparing to create a vibration control activity between the target device and the non-target pantograph control device, and no vibration control activity is created between the target pantograph control device and the non-target pantograph control device, the contact network pantograph vibration active control method further includes:

[0106] S325, the target pantograph control device obtains the vibration control data sent by the control device.

[0107] It can be understood that the vibration control data sent by the control device can be obtained through Ethernet and cables in an event polling manner.

[0108] Such a setting can provide basic data for subsequent execution of different decisions under different working conditions or environments, and help improve the fine vibration regulation of the pantograph.

[0109] S326, adjusting the vibration control data of the target pantograph to a preset mark, and adjusting the control time corresponding to the vibration control data of the target pantograph.

[0110] It can be understood that the device that is started first and obtains the vibration control data can be determined as the target device, so the vibration control data of the target pantograph can be adjusted to a preset mark. At the same time, the control time corresponding to the current vibration control data replaces the control time corresponding to the previous vibration control data, that is, the control time corresponding to the vibration control data of the target pantograph is adjusted.

[0111] Such a setting can provide basic data for subsequent execution of different decisions under different working conditions or environments, and help improve the fine vibration regulation of the pantograph.

[0112] S327, the target pantograph control device performs switching of vibration control based on the vibration control data.

[0113] It can be understood that by parsing the information in the vibration control data (such as control instructions, pressure, angle control data, timestamp, etc.), the corresponding control strategy is executed, that is, the switching of vibration control is performed based on the vibration control data.

[0114] With such a setting, when new vibration control data is obtained and no vibration control activity is created between the target pantograph control device and the non-target pantograph control device, a timely response can be made to avoid the delay of vibration control switching, which helps to improve the overall vibration control effect and ensure good contact between the pantograph and the contact line.

[0115] S313, when the vibration control data of the target pantograph is a preset mark, and the vibration control data of the non-target pantograph is not a preset mark, if the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, vibration control coordination is performed according to the vibration control data of the non-target pantograph.

[0116] It can be understood that, when the vibration control data of the target pantograph is obtained as a preset mark, and the vibration control data of the non-target pantograph is not a preset mark, if the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, it means that the target pantograph control device has been changed to the target device before, and the vibration control data has been switched, that is, the vibration control switch has been executed, but the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, that is, the vibration control data of the non-target pantograph is the data of the most recent vibration control switch from the current time (for example, the time when the vibration control data of the upper pantograph control device in scenario 3 is switched to vibration strategy g is the time closest to the current time), which can meet the required target intention. Therefore, the non-target pantograph control device (upper pantograph control device) can send the vibration control data to the target pantograph control device (lower pantograph control device) so that the vibration strategies corresponding to the two pantographs should be the required vibration strategies, that is, the vibration control coordination is performed according to the vibration control data of the lower pantograph.

[0117] Such a setting can avoid the problem that when the previous target device becomes a non-target device, the previously acquired vibration control data may be discarded, resulting in the inability to switch the vibration control mode based on the previous vibration control data. This helps to adapt to different working conditions or environments, and further helps to improve the accuracy of fine vibration adjustment of the pantograph.

[0118] S320, when the vibration control data of the target pantograph is a target mark, vibration control coordination is performed according to the vibration control data of the non-target pantograph, wherein the target mark is used to indicate that the vibration control is switched when the current pantograph control device is not the target device.

[0119] It can be understood that when the vibration control data of the target pantograph is obtained as a target mark, it means that the current target pantograph control device is a non-target device (for example, in the subsequent vibration control described in Scenario 1 and Scenario 2, the lower pantograph control device becomes the target device, that is, the current upper pantograph control device is changed from the original target device to the non-target device), and the vibration control data is switched, that is, the vibration control switching is performed (for example, the operator described in Scenario 1 and Scenario 2 switches the vibration control data of the upper pantograph control device to vibration strategy r through the control device). Therefore, the non-target pantograph control device (upper pantograph control device) can send the vibration control data to the target pantograph control device (lower pantograph control device) so that the vibration strategies corresponding to the two pantographs should be the required vibration strategies, that is, the vibration control coordination is performed according to the vibration control data of the non-target pantograph.

[0120] Such a setting can avoid the problem that when the previous target device becomes a non-target device, the previously acquired vibration control data may be discarded, resulting in the inability to switch the vibration control mode based on the previous vibration control data. This helps to adapt to different working conditions or environments and maintain effective vibration control.

[0121] In a possible implementation, the method for actively controlling the vibration of a contact network pantograph further includes:

[0122] S400, when it is determined that the vibration control data in the non-target device is a first mark and the control time corresponding to the vibration control data in the non-target device is less than the control time corresponding to the vibration control data in the target device, perform vibration control coordination according to the vibration control data in the target device. The first mark is used to indicate that the current pantograph control device is not the target device and the vibration control is not switched.

[0123] It can be understood that when the vibration control data in the non-target device is determined to be the first mark, it means that the current pantograph control device is not the target device and the vibration control switch is not performed, and it also means that the non-target device is not the target device and the vibration control switch is not performed before the vibration control activity is created with the target device. The control time corresponding to the vibration control data in the non-target device is less than the control time corresponding to the vibration control data in the target device, indicating that the time when the vibration control data of the non-target device was previously switched is before the time when the vibration control data of the current target device is switched. Therefore, the coordination of vibration control can be performed according to the vibration control data in the target device.

[0124] With such a setting, it is possible to decide in another way whether the non-target device executes the switching of vibration control data, thereby making effective decisions more flexibly and quickly, and avoiding invalid operations (for example, the operations described in Scenario 1, Scenario 2, and Scenario 3) that affect the actual operation of the pantograph.

[0125] S500, when it is determined that the vibration control data in the non-target device is a preset mark and the control time corresponding to the vibration control data in the non-target device is less than the control time corresponding to the vibration control data in the target device, perform vibration control coordination according to the vibration control data in the target device.

[0126] It can be understood that when the vibration control data in the non-target device is determined to be a preset mark, it means that the non-target device was a target device and the vibration control was switched before the vibration control activity was created with the target device. However, the target device has now become a non-target device. The control time corresponding to the vibration control data in the non-target device is less than the control time corresponding to the vibration control data in the target device, indicating that the time when the vibration control data of the non-target device was switched before was before the time when the vibration control data of the current target device was switched. Therefore, the coordination of vibration control can be performed according to the vibration control data in the target device.

[0127] With such a setting, it is possible to decide in another way whether the non-target device executes the switching of vibration control data, thereby making effective decisions more flexibly and quickly, and avoiding invalid operations that affect the actual operation of the pantograph.

[0128] In a possible implementation, the method for actively controlling the vibration of a contact network pantograph further includes:

[0129] In the case where no vibration control activity is established between the target pantograph control device and the non-target pantograph control device, if the vibration control activity is established, the first information is obtained, and the second information is obtained. The target pantograph control device is one of the upper pantograph control device or the lower pantograph control device, and the non-target pantograph control device is one of the upper pantograph control device or the lower pantograph control device, and is different from the target pantograph control device.

[0130] It can be understood that, in the case where no vibration control activity is created between the target pantograph control device and the non-target pantograph control device, if the creation of the vibration control activity is obtained, it indicates that the problem described in scenario 1 occurs, that is, the vibration control data of the target device and the non-target device after the previous vibration control is coordinated is vibration strategy t, vibration strategy t, and the current pantograph control device becomes the target device, while the non-target device is in standby mode or ready to start mode. At this time, the target device does not create a vibration control activity with the non-target device. Therefore, in order to avoid the problem that the vibration control data previously obtained may be discarded when the previous target device becomes a non-target device, resulting in the problem that the vibration control mode cannot be switched based on the previous vibration control data, the first information can be obtained, and the second information can be obtained to facilitate the subsequent execution of steps S310, S313, S320, etc.

[0131] Such a setting can provide basic data for subsequent execution of different decisions under different working conditions or environments, and help improve the accuracy of fine vibration regulation of the pantograph.

[0132] In a possible implementation, the method for actively controlling the vibration of a contact network pantograph further includes:

[0133] When the vibration control data of the target pantograph is a preset mark and the control time corresponding to the vibration control data of the target pantograph is greater than or equal to the control time corresponding to the vibration control data of the non-target pantograph, vibration control coordination is not performed.

[0134] It can be understood that when the vibration control data of the target pantograph is obtained as a preset mark, and the control time corresponding to the vibration control data of the target pantograph is greater than or equal to the control time corresponding to the vibration control data of the non-target pantograph, it means that the target pantograph control device has been changed to the target device before, and the vibration control data has been switched, that is, the vibration control switching has been executed, but the control time corresponding to the vibration control data of the target pantograph is greater than or equal to the control time corresponding to the vibration control data of the non-target pantograph, that is, the vibration control data of the target pantograph is the data of the most recent vibration control switching from the current time, which can meet the required target intention. Therefore, there is no need to send the vibration control data of the non-target pantograph control device (upper pantograph control device) to the target pantograph control device (lower pantograph control device), that is, the vibration control coordination is not executed, so that the vibration strategies corresponding to the two pantographs should be the required vibration strategies, that is, the vibration control coordination is executed according to the vibration control data of the lower pantograph.

[0135] Such a setting can avoid blindly executing vibration control coordination when the required target intention can be met at present, which may lead to invalid operation, that is, avoid unnecessary control actions, thereby reducing the risk of system fluctuations and instability.

[0136] In a possible implementation, the method for actively controlling the vibration of a contact network pantograph further includes:

[0137] S600, obtaining working information, wherein the working information is used to reflect whether the pantograph is in a preset working area.

[0138] It can be understood that the preset working area can be the area where the pantograph operates under normal working conditions. The preset working area can be set according to the manufacturing design manual.

[0139] For example, a photoelectric sensor or a Hall sensor installed on the contact network pantograph vibration active control device can be used to detect the specific position of the pantograph (for example, height information, tilt angle information, etc.) to determine whether it is in the preset working area. For example, when it is obtained whether the vertical height and tilt angle of the pantograph are within the preset range, it is determined that the pantograph is in the preset working area; otherwise, it is determined that the pantograph is not in the preset working area.

[0140] With such a configuration, by obtaining working information reflecting whether the pantograph is in a preset working area, it is possible to avoid equipment damage caused by subsequent vibration control when the pantograph is in a non-preset working area, so that the subsequent vibration control can adjust the vibration amplitude of the pantograph according to actual conditions, avoiding invalid adjustment operations, thereby helping to improve the stability of current transmission.

[0141] S700: When the working information reflects that the pantograph is in a preset working area, if adjustment information is monitored, vibration information of the pantograph is detected.

[0142] It is understood that the adjustment information may be information input by an operator through a control device, or may be information automatically generated when the train is ready to travel. The adjustment information may be information about adjustment pressure or adjustment angle. The vibration information may be information about vibration amplitude.

[0143] For example, the vibration amplitude of the pantograph can be detected by a vibration sensor installed on the contact network pantograph vibration active control device. The vibration amplitude of the pantograph can also be detected by an acceleration sensor on the contact network pantograph vibration active control device. For example, the acceleration values ​​in three axes are obtained by the acceleration sensor (for example, the acceleration value on the x-axis is x, the acceleration value on the y-axis is y, and the acceleration value on the z-axis is z), and the current vibration amplitude of the pantograph is calculated. For example, the vibration amplitude = .

[0144] For example, an event-driven mechanism may be used to monitor the adjustment information in real time, or a listener may be set to monitor the adjustment information in real time.

[0145] Such a setting can respond quickly and trigger vibration control actions in time, avoiding the problem of large vibrations of the pantograph when driving at high speeds, which in turn helps to improve the stability of current transmission.

[0146] S800: Control the pantograph to perform vibration adjustment according to the adjustment information and the vibration information.

[0147] It can be understood that when the working information reflects that the pantograph is in the preset working area and the adjustment information is monitored, it indicates that there is a need for vibration control, and the subsequent vibration control of the pantograph will not cause damage to the equipment. Therefore, the pantograph can be controlled to perform vibration adjustment according to the adjustment information and vibration information. For example, the contact pressure of the pantograph is adjusted to change the contact state with the contact network to reduce vibration.

[0148] For example, maximum and minimum thresholds may be set, such that when the vibration amplitude exceeds a certain threshold, corresponding control measures are triggered.

[0149] With such a setting, the pantograph can be controlled to perform vibration adjustment based on the adjustment information and vibration information. Vibration control can be performed by combining various information, which helps to accurately adjust the vibration level of the pantograph according to actual conditions, prevent contact instability caused by excessive or insufficient vibration, and help improve the stability of current transmission.

[0150] In a possible implementation, S800, controlling the pantograph to perform vibration adjustment according to the adjustment information and the vibration information, includes:

[0151] S810, when the vibration information reflects that the current vibration amplitude of the pantograph exceeds the first preset amplitude, and the adjustment information is information for reducing the vibration, the vibration amplitude of the pantograph is controlled to be reduced to the target amplitude.

[0152] It can be understood that the target amplitude is the amplitude produced when the pantograph works in the best state. For example, the target vibration amplitude of the pantograph is set to 3 mm.

[0153] For example, the adjustment information is parsed to determine whether it is information for "reducing vibration". The acquired real-time vibration information is compared with a preset vibration amplitude threshold (i.e., a first preset amplitude). If the current vibration amplitude exceeds the preset maximum threshold, it is determined that the vibration is too large, and the vibration amplitude of the pantograph can be adjusted, that is, the vibration amplitude of the pantograph is controlled to be reduced to a target amplitude.

[0154] For example, the vibration amplitude is related to the contact pressure of the pantograph. If the pressure applied by the pantograph is too large, excessive vibration may result. Therefore, the contact pressure can be reduced. For example, by controlling a pneumatic or electric pressure regulating device, the pressure applied to the contact network is reduced to reduce the vibration amplitude.

[0155] This setting can accurately adjust the vibration level of the pantograph according to actual conditions, which helps maintain good contact between the pantograph and the contact network and ensure the stability of power transmission.

[0156] S820, when the vibration information reflects that the current vibration amplitude of the overhead contact network pantograph does not exceed the second preset amplitude, and the adjustment information is information for increasing the vibration, the vibration amplitude of the pantograph is controlled to increase to the target amplitude.

[0157] For example, the adjustment information is parsed to determine whether the instruction is "increase vibration". The acquired real-time vibration information is compared with a preset vibration amplitude threshold (i.e., a second preset amplitude). If the current vibration amplitude does not exceed the preset minimum threshold, it is determined that the vibration is too small, and the vibration amplitude of the pantograph can be adjusted, that is, the vibration amplitude of the pantograph is controlled to increase to the target amplitude.

[0158] For example, the vibration amplitude is related to the contact pressure of the pantograph. If the pressure applied by the pantograph is too small, insufficient contact may result. Therefore, the contact pressure can be increased. For example, by controlling a pneumatic or electric pressure regulating device, the pressure applied to the contact network is increased to increase the vibration amplitude.

[0159] This setting can accurately adjust the vibration level of the pantograph according to actual conditions, which helps maintain good contact between the pantograph and the contact network and ensure the stability of power transmission.

[0160] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0161] Corresponding to the method for actively controlling the vibration of a catenary pantograph described in the above embodiment, an embodiment of the present application further provides an active control system for the vibration of a catenary pantograph, and each unit of the system can implement each step of the method for actively controlling the vibration of a catenary pantograph. Figure 5 A structural block diagram of an active control system for catenary vibration provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0162] Reference Figure 5 , the active control system of catenary pantograph vibration includes:

[0163] The acquisition unit acquires the signs of the vibration control data of the two pantographs, wherein the vibration control data is used to adjust the control parameters of the pantographs.

[0164] The detection unit is used to obtain the control time corresponding to the vibration control data of the two pantographs.

[0165] The control unit is used to coordinate the vibration control of the two pantographs based on the signs of the vibration control data of the two pantographs and the control time corresponding to the vibration control data of the two pantographs.

[0166] It should be noted that the information interaction, execution process, etc. between the above-mentioned systems / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0167] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units is used as an example for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units as needed, that is, the internal structure of the system can be divided into different functional units to complete all or part of the functions described above. The functional units in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0168] The present application also provides a device for actively controlling the vibration of a contact network pantograph. Figure 5 This is a schematic diagram of the structure of a contact network pantograph vibration active control device provided in one embodiment of the present application. Figure 5 As shown, the catenary pantograph vibration active control device 6 of this embodiment includes: at least one processor 60 ( Figure 5 Only one is shown), at least one memory 61 ( Figure 5 Only one is shown in the figure) and a computer program 62 stored in the at least one memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, the contact network pantograph vibration active control device 6 implements the steps in any of the above-mentioned embodiments of the contact network pantograph vibration active control method, or enables the contact network pantograph vibration active control device 6 to implement the functions of each unit in the above-mentioned system embodiments.

[0169] Exemplarily, the computer program 62 may be divided into one or more units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 62 in the contact network pantograph vibration active control device 6.

[0170] The catenary pantograph vibration active control device 6 may be a catenary pantograph vibration active control device which may include an upper pantograph control device (for example, it may include a servo motor (for adjusting the height and angle of the upper pantograph) and a vibration sensor (for monitoring the vibration information of the upper pantograph), etc.), a lower pantograph control device (it may include a servo motor (for adjusting the height and angle of the lower pantograph), a vibration sensor (for monitoring the vibration information of the lower pantograph), a mechanical support frame (for providing mechanical support for the lower pantograph and the upper pantograph control device, etc.) and a control device. The control device is respectively connected to the upper pantograph control device and the lower pantograph control device for communication. The control device may control the upper pantograph control device or the lower pantograph control device to perform vibration control on the pantograph based on the adjustment information and the vibration information. The catenary pantograph vibration active control device 6 may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art may understand that Figure 5 It is only an example of the contact network pantograph vibration active control device 6 and does not constitute a limitation of the contact network pantograph vibration active control device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access equipment, buses, etc.

[0171] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0172] In some embodiments, the memory 61 may be an internal storage unit of the contact network pantograph vibration active control device 6, such as a hard disk or memory of the contact network pantograph vibration active control device 6. In other embodiments, the memory 61 may also be an external storage device of the contact network pantograph vibration active control device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the contact network pantograph vibration active control device 6. Further, the memory 61 may also include both the internal storage unit of the contact network pantograph vibration active control device 6 and an external storage device. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0173] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0174] An embodiment of the present application provides a computer program product. When the computer program product runs on a contact network pantograph vibration active control device, the contact network pantograph vibration active control device enables the contact network pantograph vibration active control device to implement the steps in any of the above-mentioned method embodiments.

[0175] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the contact network pantograph vibration active control device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0176] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0177] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0178] In the embodiments provided in the present application, it should be understood that the disclosed contact network pantograph vibration active control device, contact network pantograph vibration active control system and contact network pantograph vibration active control method can be implemented in other ways. For example, the above-described contact network pantograph vibration active control device and contact network pantograph vibration active control system embodiments are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0179] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0180] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for actively controlling the vibration of a contact network pantograph, characterized in that: The method comprises: Obtaining the sign of the vibration control data of the two pantographs; wherein the vibration control data is used to adjust the control parameters of the pantograph of the overhead line pantograph active vibration control device; Obtaining the control time corresponding to the vibration control data of the two pantographs; Based on the signs of the vibration control data of the two pantographs and the control times corresponding to the vibration control data of the two pantographs, the coordination of the vibration control of the two pantographs is performed; The catenary pantograph vibration active control device comprises an upper pantograph control device and a lower pantograph control device, wherein the upper pantograph control device has the ability to control the upper pantograph, and the lower pantograph control device has the ability to control the lower pantograph, and based on the signs of the vibration control data of the two pantographs and the control time corresponding to the vibration control data of the two pantographs, the coordination of the vibration control of the two pantographs is performed, including: When the vibration control data of the target pantograph is obtained as a preset mark, and the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, the vibration control coordination is performed according to the vibration control data of the non-target pantograph; wherein the preset mark is used to indicate that the vibration control switching is performed when the current pantograph control device is the target device, and the control time is the time when the current pantograph control device receives the vibration control data, or the control time is the time when the vibration control switching is performed when the current pantograph control device receives the vibration control data; the vibration control data of the target pantograph is used to indicate whether the vibration control switching is performed when the current pantograph control device is the target device; the target pantograph is one of the upper pantograph or the lower pantograph; When the vibration control data of the target pantograph is obtained as a target mark, vibration control coordination is performed according to the vibration control data of the non-target pantograph; wherein the target mark is used to indicate that vibration control switching is performed when the current pantograph control device is not the target device.

2. The method for actively controlling the vibration of a contact network pantograph according to claim 1, characterized in that: When the vibration control data of the target pantograph is a preset mark, and the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, the coordination of vibration control is performed according to the vibration control data of the non-target pantograph, including: Acquire first information; wherein the first information includes the vibration control data of the target pantograph, the control time corresponding to the vibration control data of the target pantograph, and the sign corresponding to the vibration control data of the target pantograph; Acquire second information; wherein the second information includes the vibration control data of the non-target pantograph, the control time corresponding to the vibration control data of the non-target pantograph, and the sign corresponding to the vibration control data of the non-target pantograph; When the vibration control data of the target pantograph is obtained as a preset mark, and the vibration control data of the non-target pantograph is not a preset mark, if the control time corresponding to the vibration control data of the target pantograph is less than the control time corresponding to the vibration control data of the non-target pantograph, vibration control coordination is performed according to the vibration control data of the non-target pantograph.

3. The method for actively controlling the vibration of a contact network pantograph according to claim 1, characterized in that: The method further comprises: In a case where no vibration control activity is created between a target pantograph control device and a non-target pantograph control device, if the creation of a vibration control activity is obtained, first information is obtained, and second information is obtained; wherein the target pantograph control device is one of the upper pantograph control device or the lower pantograph control device, and the non-target pantograph control device is one of the upper pantograph control device or the lower pantograph control device, and is a device different from the target pantograph control device.

4. The method for actively controlling the vibration of a contact network pantograph according to claim 1, characterized in that: The method further comprises: When the vibration control data of the target pantograph is a preset mark and the control time corresponding to the vibration control data of the target pantograph is greater than or equal to the control time corresponding to the vibration control data of the non-target pantograph, vibration control coordination is not performed.

5. The method for actively controlling the vibration of a contact network pantograph according to claim 2, characterized in that: Before acquiring the second information, the method further includes: The target pantograph control device acquires vibration control data sent by the control device; Adjusting the vibration control data of the target pantograph to a preset mark, and adjusting the control time corresponding to the vibration control data of the target pantograph; The target pantograph control device performs switching of the vibration control based on the vibration control data.

6. The method for actively controlling the vibration of a contact network pantograph according to claim 3, characterized in that: When the target pantograph control device is a target device and is preparing to create a vibration control activity with the non-target pantograph control device, and no vibration control activity is created between the target pantograph control device and the non-target pantograph control device, the method further includes: The target pantograph control device acquires the vibration control data sent by the control device; Adjusting the vibration control data of the target pantograph to a preset mark, and adjusting the control time corresponding to the vibration control data of the target pantograph; The target pantograph control device performs switching of the vibration control based on the vibration control data.

7. The method for actively controlling the vibration of a contact network pantograph according to claim 1, characterized in that: The method further comprises: Obtaining working information; wherein the working information is used to reflect whether the pantograph is in a preset working area; In a case where the working information reflects that the pantograph is in a preset working area, if the adjustment information is monitored, detecting the vibration information of the pantograph; The pantograph is controlled to perform vibration adjustment according to the adjustment information and the vibration information.

8. The method for actively controlling the vibration of a contact network pantograph according to claim 7, characterized in that: According to the adjustment information and the vibration information, controlling the pantograph to perform vibration adjustment includes: When the vibration information reflects that the current vibration amplitude of the pantograph exceeds the first preset amplitude, and the adjustment information is information for reducing the vibration, controlling the vibration amplitude of the pantograph to be reduced to a target amplitude; When the vibration information reflects that the current vibration amplitude of the overhead contact network pantograph does not exceed the second preset amplitude, and the adjustment information is information for increasing the vibration, the vibration amplitude of the pantograph is controlled to increase to the target amplitude.

9. An active control device for pantograph vibration of a contact network, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 8 when executing the computer program.

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