Tooth entering method of rack rail train, control system and medium thereof

Abstract

The invention relates to a rail traffic rack rail railway technology, in particular to a rack rail train tooth entering method, a control system and a medium thereof.The method comprises the following steps that a bogie gear is kept in a meshing posture, and a train is departed and runs to a first beacon point; driving a bogie gear to rotate based on the fact that the train drives into the first beacon point and acquiring train wheel linear velocity; controlling a driving device according to the train wheel linear velocity, and adjusting the angular acceleration of the bogie gear, so that the linear velocity of the bogie gear is the same as the train wheel linear velocity when the train drives into the second beacon point; a virtual punctuation point is preset based on the fact that the train drives into the second beacon point, and the distance of the train driving from the virtual punctuation point to the toothed rail meshing point is determined through the virtual punctuation point; controlling a driving device according to the distance of the train running from the virtual punctuation point to the rack rail meshing point, and controlling the gear rotating speed of the bogie gear, so that the bogie gear returns to the meshing posture when running to the rack rail meshing point, and meshing of the bogie gear and the rack rail is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit rack railways, and in particular to a rack railway train gear insertion method, a control system and a medium thereof. Background Art

[0002] In traditional rack railways, when a train transitions from the wheel-rail section to the rack section, wear and tear may occur between the gear and the rack due to the mismatched meshing relationship between the rack and the bogie gear. Existing solutions are mostly to add mechanical auxiliary devices to the rack and reduce the speed of the train when it reaches the rack section. This measure increases costs and reduces the train's travel efficiency. Summary of the invention

[0003] The purpose of the present invention is to overcome the problem in the prior art that a mechanical auxiliary device is installed on a rack segment to achieve meshing of a rack and a gear, which leads to reduced train travel efficiency, and to provide a rack railway train gear engagement method, a control system and a medium thereof.

[0004] In a first aspect, the present invention provides a method for gear insertion of a rack railway train, comprising the following steps:

[0005] The bogie gears remain in meshing position, and the train sets out towards the first beacon point;

[0006] Based on the train entering the first beacon point, the bogie gear is driven to rotate and the linear speed of the train wheels is obtained;

[0007] Control the drive device according to the linear speed of the train wheels and adjust the angular acceleration of the bogie gear so that the linear speed of the train running to the bogie gear is the same as the linear speed of the train wheels;

[0008] A virtual mark point is preset based on the train entering the second beacon point, and the virtual mark point is used to determine the distance from the virtual mark point to the rack-rail meshing point of the train;

[0009] The driving device is controlled according to the distance traveled by the train from the virtual mark to the rack-rail meshing point, and the gear speed of the bogie gear is controlled so that the bogie gear returns to the meshing posture when traveling to the rack-rail meshing point, thereby completing the meshing of the bogie gear and the rack-rail;

[0010] Among them, the linear speed of the train wheels remains unchanged during the train's travel.

[0011] The present invention is a method for gear engagement of a rack railway train. The method introduces a first beacon point, a second beacon point and a virtual beacon point during the operation of the train, thereby accurately controlling the speed of the train and the angular acceleration of the bogie gear, so that the gear can be accurately meshed with the rack, and the impact or damage of the gear and the rack caused by speed mismatch is avoided. The method realizes intelligent control of the train gear engagement process by setting beacon points and virtual beacon points in combination with the automatic adjustment of the gear speed and acceleration by a driving device, which not only improves the accuracy of the operation, but also reduces the need for manual intervention and improves the system operation efficiency. The method does not need to add mechanical auxiliary devices on the rails, so that the train can achieve gear engagement without deceleration, thereby improving the operation efficiency of the train.

[0012] Preferably, the specific steps of returning the bogie gear to the meshing posture when the bogie gear reaches the rack-rail meshing point are as follows:

[0013] Based on the fact that the linear speed of the train wheels remains unchanged, a mathematical model of the distance from the virtual mark to the rack-rail meshing point is constructed;

[0014] The gear speed of the bogie gear is obtained according to the above distance mathematical model, and the gear engagement is achieved by adjusting the gear speed of the bogie gear.

[0015] Preferably, the distance formula of the train from the virtual mark to the rack-rail meshing point is as follows:

[0016]

[0017] Where: l3 is the distance from the virtual mark to the rack-rail meshing point; n2 is the gear speed of the bogie gear; ω2 is the angular velocity of the bogie gear; R is the radius of the train wheel; is an integer.

[0018] Preferably, the method further comprises:

[0019] The train collects the gear rotation angle of the bogie gear in real time during the train's travel;

[0020] According to the gear rotation angle of the bogie gear during the train running, determine the angle that needs to be adjusted for the bogie gear to return to the meshing posture;

[0021] Determine the distance from the second beacon point to the meshing posture of the bogie gear according to the angle that needs to be adjusted for the bogie gear to return to the meshing posture;

[0022] The position of the bogie gear in meshing posture is determined according to the distance from the second beacon point of the train to the bogie gear in meshing posture, and the virtual punctuation point position is updated according to the position of the bogie gear in meshing posture.

[0023] The above method collects the gear rotation angle in real time and dynamically determines the position of the virtual mark. This method significantly improves the accuracy and reliability of the gear-rail meshing, while enhancing the automation of the train system and its adaptability to complex environments, reducing equipment wear and extending its service life.

[0024] Preferably, the angle that needs to be adjusted for the bogie gear to return to the meshing posture specifically includes the following steps:

[0025] Construct a set of gear rotation angles of the bogie gears during train travel and a set of angles that need to be adjusted when the bogie gears return to the meshing posture, as follows;

[0026]

[0027] Where: Γ is the gear rotation angle set of the bogie gear during the train running; θ ij where i represents the i-th bogie gear, j represents the data of each bogie gear at the j-th measured point; Λ is the set of angles that need to be adjusted for the bogie gear to return to the meshing posture; Δθ ij Where i represents the i-th bogie gear, and j represents the data of each bogie gear at the j-th measured point;

[0028] Calculate the above formula and get;

[0029]

[0030] in: Not greater than The largest integer of ij It is the angle required for the bogie gear to return to the quasi-meshing posture; Z is the number of gear teeth.

[0031] Preferably, the specific process of determining the distance from the second beacon point to the bogie gear in meshing posture is as follows:

[0032] According to the angle that needs to be adjusted for the bogie gear to return to the meshing posture, the rotation angle of the bogie gear to return to the meshing posture is determined;

[0033] The time required for the train to travel from the second beacon point to the virtual beacon point is deduced according to the angle of rotation of the bogie gear when it returns to the meshing posture;

[0034] Based on the fact that the linear speed of the train wheels remains unchanged, the distance from the second beacon point to the virtual beacon point is determined according to the time required for the train to travel from the second beacon point to the virtual beacon point.

[0035] Preferably, the calculation formula for the distance of the train from the second beacon point to the virtual beacon point is:

[0036] l2=r·(Δθ i+2πk);

[0037] Where: l2 is the distance from the second beacon point to the virtual beacon point; r is the pitch circle radius of the bogie gear; Δθ i The angle required for the bogie gear to return to the quasi-meshing posture; Δθ i +2πk is the angle at which the bogie gear returns to the meshing position; K is an integer.

[0038] In a second aspect, the present invention provides a rack railway train gear entry control system for executing the above method:

[0039] The system includes a beacon group, an angle sensor, a front transponder antenna, a processor, and a memory group.

[0040] Preferably, the beacon group includes a first beacon point and a second beacon point; the first beacon point is set on the wheel-rail section, and the second beacon point is set on the wheel-rail section; the front transponder antenna is set at the front of the train, and can receive the signal reflected by the beacon group when the train passes through the beacon group; the memory group is set on the train, for storing information collected by the sensor group and the instruction set executed by the processor; the processor is set on the train, for performing operations; the angle sensor is set on the train, for collecting the gear rotation angle information of the bogie gear.

[0041] In a third aspect, the present invention provides a computer-readable medium having stored thereon instructions executable by a processor, wherein when the instructions are executed by the processor, the processor executes a rack railway train tooth entry control system as described above.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] 1. The present invention is a method for gear engagement of a rack railway train. By introducing a first beacon point, a second beacon point and a virtual beacon point during the operation of the train, the speed of the train and the angular acceleration of the bogie gear are accurately controlled, so that the gear can be accurately meshed with the rack, and the impact or damage of the gear and the rack caused by speed mismatch is avoided. The method realizes intelligent control of the train gear engagement process through the setting of beacon points and virtual beacon points, combined with the automatic adjustment of the gear speed and acceleration by the drive device, which not only improves the accuracy of the operation, but also reduces the need for manual intervention and improves the system operation efficiency. According to the method, there is no need to add mechanical auxiliary devices on the rails, so that the train can achieve gear engagement without deceleration, thereby improving the operation efficiency of the train. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of the method of the present invention;

[0045] Figure 2A schematic diagram of the bogie gear running on the railway;

[0046] Figure 3 It is a schematic diagram of the operation of the bogie gear after the train enters the first beacon point;

[0047] Figure 4 It is a schematic diagram of the bogie gear moving from the second beacon point to the rack-rail meshing point.

[0048] Markings in the figure: 1-first beacon point; 2-second beacon point; 3-virtual beacon point; 4-rack meshing point; 5-bogie gear. DETAILED DESCRIPTION

[0049] The present invention is further described in detail below in conjunction with test examples and specific implementation methods. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0050] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0051] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0052] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0053] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0054] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection methods in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two components.

[0055] Example 1

[0056] like Figure 1 to Figure 2 A method for gear insertion of a rack railway train is shown, and the method is specifically as follows:

[0057] S1. When the train departs, the bogie gear 5 maintains the meshing posture and determines the meshing posture point as point P; when the train enters the first beacon point 1, the train control drive device drives the bogie gear 5 to rotate the bogie gear 5; and at the same time obtains the linear velocity of the train wheels;

[0058] S2, based on the linear velocity control driving device of the train wheels, the driving device continuously applies angular acceleration to the bogie gear 5, thereby adjusting the linear velocity of the bogie gear 5, so that when the train enters the second beacon point 2, the linear velocity of the bogie gear 5 is the same as the linear velocity of the train wheels;

[0059] S3. After the train passes the second beacon point 2, a virtual mark point 3 is preset to ensure that when the train reaches the virtual mark point 3, the bogie gear 5 can return to the meshing posture (that is, point P moves on the bogie gear 5 to the position when the train departs); the distance between the virtual mark point 3 and the meshing point 4 of the rack section is calculated, and the gear speed of the bogie gear 5 is controlled according to the distance between the virtual mark point 3 and the meshing point 4 of the rack section. By controlling the gear speed, the bogie gear 5 can return to the meshing posture after reaching the rack meshing point 4, thereby completing the meshing of the bogie gear 5 with the rack.

[0060] In one or more embodiments, the specific process of step S2 is:

[0061] S21, after the train enters the first beacon point 1, the train collects the linear velocity of the train wheels and ensures that the angular velocity ω1 of the train wheels is constant; at the same time, the train drives the bogie gear 5 to rotate through the driving device;

[0062] S22. Control the driving device based on the linear velocity of the train wheels, apply angular acceleration to the bogie gear 5 through the driving device, ensure that the linear velocity of the train wheels is the same as the linear velocity of the bogie gear 5 when the train reaches the second beacon point 2, and construct a first mathematical model.

[0063] In an optional implementation manner, the first mathematical model is specifically as follows:

[0064]

[0065] Where: R is the radius of the train wheel; r is the pitch circle radius of the bogie gear; l1 is the distance from the first beacon point to the second beacon point of the train; ω1 is the angular velocity of the train wheel; ω2 is the angular velocity of the bogie gear; α is the angular acceleration of the gear; v1 is the linear velocity of the train wheel; v2 is the linear velocity of the bogie gear.

[0066] In one or more embodiments, in step S3, after the train passes the second beacon point 2, the train controls the drive device to adjust the angular acceleration of the bogie gear 5 to zero, ensuring that the linear velocity of the train wheels is the same as the linear velocity of the bogie gear 5.

[0067] In one or more embodiments, in step S3, the distance formula between the virtual mark point 3 and the gear segment meshing point 4 is as follows:

[0068]

[0069] Where: l3 is the distance from the virtual mark to the rack-rail meshing point; n2 is the gear speed of the bogie gear; ω2 is the angular velocity of the bogie gear; R is the radius of the train wheel; is an integer.

[0070] In one or more embodiments, the method further comprises:

[0071] The gear rotation angle θ of the bogie gear 5 is collected in real time when the train is running i , rotate the gear by angle θ i Calculate and deduce the angle Δθ that needs to be adjusted when the bogie gear 5 returns to the meshing posture i , construct a second mathematical model;

[0072] The angle Δθ that needs to be adjusted based on the bogie gear 5 returning to the meshing posture i, calculate the angle at which the bogie gear 5 returns to the meshing posture; calculate the distance from the second beacon point 2 to the position where the bogie gear 5 is in the meshing posture based on the angle at which the bogie gear 5 returns to the meshing posture, and update the position of the virtual beacon point 3 according to the distance at which the bogie gear 5 is in the meshing posture, and construct a third mathematical model;

[0073] Based on the third mathematical model, the position of the virtual punctuation point 3 (i.e., the position where the bogie gear 5 is in meshing posture) is derived, as shown in FIG. Figure 3 to Figure 4 As shown ( Figure 4 p' in the figure indicates that point p rotates along with the bogie gear).

[0074] In an optional implementation manner, the specific formula of the second mathematical model is as follows:

[0075]

[0076] From the above formula The conclusion is:

[0077]

[0078] Where: Γ is the gear rotation angle set of the bogie gear 5 during the train running; θ ij where i represents the i-th bogie gear, j represents the data of each bogie gear at the j-th measured point; Λ is the angle set that needs to be adjusted for the bogie gear 5 to return to the meshing posture; Δθ ij Where i represents the i-th bogie gear, and j represents the data of each bogie gear at the j-th measured point; Not greater than The largest integer of ij It is the angle required for each bogie gear to return to the quasi-meshing posture; Z is the number of gear teeth.

[0079] In an optional implementation manner, the specific formula of the third mathematical model is as follows:

[0080] ω2·t2=Δθ i +2πk;

[0081]

[0082] roll out:

[0083]

[0084] Bring in to conclude;

[0085] l2=r·(Δθ i +2πk);

[0086] Where: l2 is the distance from the second beacon point to the virtual beacon point; r is the pitch circle radius of the bogie gear; Δθ i The angle required for the bogie gear to return to the quasi-meshing posture; Δθ i +2πk is the rotation angle of the bogie gear returning to the meshing posture; K is an integer; ω1 is the angular velocity of the train wheel; ω2 is the angular velocity of the bogie gear; v1 is the linear velocity of the train wheel; t2 is the time it takes for the train to travel from the second beacon point to the virtual beacon point; R is the radius of the train wheel; r is the pitch circle radius of the bogie gear.

[0087] Example 2

[0088] This embodiment 2 is a rack railway train gear entry control system, which is used to execute the method of embodiment 1:

[0089] The system includes a beacon group, an angle sensor, a head transponder antenna, a processor, and a memory group;

[0090] The beacon group includes a first beacon point 1 and a second beacon point 2; the first beacon point 1 is set in the wheel-rail section, and the second beacon point 2 is set in the wheel-rail section;

[0091] The front transponder antenna is arranged at the front of the train, and can receive the signal reflected by the beacon group when the train passes by the beacon group;

[0092] The memory group is arranged on the train and is used to store information collected by the sensor group and an instruction set executed by the processor;

[0093] The processor is arranged on the train and is used to perform operations;

[0094] The angle sensor is arranged on the train and is used to collect the gear rotation angle information of the bogie gear 5 .

[0095] Example 3

[0096] A computer-readable medium stores instructions executable by a processor, and when the instructions are executed by the processor, the processor executes a method for tooth insertion of a rack railway train as described in Example 1.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for inserting a rack railway train into a gear, characterized in that: The following steps are involved: The bogie gear (5) maintains an engaged posture, and the train starts to drive towards the first beacon point (1); Based on the train entering the first beacon point (1), driving the bogie gear (5) to rotate and obtaining the linear speed of the train wheels; Controlling the driving device according to the linear speed of the train wheels, adjusting the angular acceleration of the bogie gear (5) so that the linear speed of the train traveling to the bogie gear (5) is the same as the linear speed of the train wheels; A virtual mark point (3) is preset based on the train entering the second mark point (2), wherein the virtual mark point (3) is used to determine the distance traveled by the train from the virtual mark point (3) to the rack-rail meshing point (4); The driving device is controlled according to the distance traveled by the train from the virtual mark point (3) to the rack-rail meshing point (4), and the gear speed of the bogie gear (5) is controlled so that the bogie gear (5) returns to the meshing posture when traveling to the rack-rail meshing point (4), thereby completing the meshing of the bogie gear (5) and the rack-rail; Among them, the linear speed of the train wheels remains unchanged during the train's travel.

2. A method for inserting a rack railway train into a gear according to claim 1, characterized in that: The specific steps of returning the bogie gear (5) to the meshing position when it reaches the rack-rail meshing point (4) are as follows: Based on the fact that the linear speed of the train wheels remains constant, a mathematical model of the distance traveled by the train from the virtual mark point (3) to the rack-rail meshing point (4) is constructed; The gear speed of the bogie gear (5) is obtained according to the above distance mathematical model, and the gear engagement is achieved by adjusting the gear speed of the bogie gear (5).

3. A method for inserting a rack railway train into a gear according to claim 2, characterized in that: The distance formula of the train from the virtual mark point (3) to the rack-rail meshing point (4) is as follows: Where: l3 is the distance from the virtual mark to the rack-rail meshing point; n2 is the gear speed of the bogie gear; ω2 is the angular velocity of the bogie gear; R is the radius of the train wheel; is an integer.

4. A method for inserting a rack railway train into a gear according to claim 1, characterized in that: The method further comprises: The train collects the gear rotation angle of the bogie gear (5) in real time during the train's travel; According to the gear rotation angle of the bogie gear (5) during the running of the train, determining the angle that needs to be adjusted for the bogie gear (5) to return to the meshing posture; Determine the distance of the train from the second beacon point (2) to the bogie gear (5) in the meshing posture according to the angle that needs to be adjusted for the bogie gear (5) to return to the meshing posture; The position of the bogie gear (5) in meshing posture is determined according to the distance from the second beacon point (2) of the train to the bogie gear (5) in meshing posture, and the position of the virtual beacon (3) is updated according to the position of the bogie gear (5) in meshing posture.

5. A method for inserting a rack railway train into a gear according to claim 4, characterized in that: The angle that needs to be adjusted when the bogie gear (5) returns to the meshing posture specifically includes the following steps: Constructing a gear rotation angle set of the bogie gear (5) during train travel and a set of angles that need to be adjusted when the bogie gear (5) returns to a meshing posture, specifically as follows; Where: Γ is the gear rotation angle set of the bogie gear (5) during the train running; θ ij where i represents the i-th bogie gear, j represents the data of each bogie gear at the j-th measured point; Λ is the set of angles that need to be adjusted for the bogie gear (5) to return to the meshing posture; Δθ ij Where i represents the i-th bogie gear, and j represents the data of each bogie gear at the j-th measured point; Calculate the above formula and get; in: Not greater than The largest integer of ij It is the angle required for each bogie gear to return to the quasi-meshing posture; Z is the number of gear teeth.

6. A method for inserting a rack railway train into a gear according to claim 4, characterized in that: The specific process of determining the distance from the second beacon point (2) to the bogie gear (5) in meshing posture is as follows: Determining the rotation angle of the bogie gear (5) to return to the meshing posture according to the angle that needs to be adjusted for the bogie gear (5) to return to the meshing posture; The time required for the train to travel from the second beacon point (2) to the virtual beacon point (3) is deduced based on the angle at which the bogie gear (5) turns back to the meshing position; Based on the fact that the linear speed of the train wheels remains unchanged, the distance of the train from the second beacon point (2) to the virtual beacon point (3) is determined according to the time required for the train to travel from the second beacon point (2) to the virtual beacon point (3).

7. A method for inserting a rack railway train into a gear according to claim 6, characterized in that: The calculation formula of the distance of the train from the second beacon point (2) to the virtual beacon point (3) is: l2=r·(Δθ i +2πk); Where: l2 is the distance from the second beacon point to the virtual beacon point; r is the pitch circle radius of the bogie gear; Δθ i The angle required for the bogie gear to return to the quasi-meshing posture; Δθ i +2πk is the angle at which the bogie gear returns to the meshing position; K is an integer.

8. A rack railway train gear entry control system, characterized in that: For performing the method according to any one of claims 1 to 7: The system includes a beacon group, an angle sensor, a front transponder antenna, a processor, and a memory group.

9. A rack railway train gear entry control system according to claim 8, characterized in that: The beacon group comprises a first beacon point (1) and a second beacon point (2); the first beacon point (1) is arranged on a wheel-track section, and the second beacon point (2) is arranged on a wheel-track section; the locomotive transponder antenna is arranged on the locomotive head of the train, and can receive a signal reflected by the beacon group when the train passes through the beacon group; the memory group is arranged on the train, and is used to store information collected by the sensor group and an instruction set executed by the processor; the processor is arranged on the train, and is used to perform operations; the angle sensor is arranged on the train, and is used to collect gear rotation angle information of the bogie gear (5).

10. A computer-readable medium having stored thereon instructions executable by a processor, wherein when the instructions are executed by the processor, the processor executes a method for tooth insertion of a rack railway train according to any one of claims 1 to 7.

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