A rack railway train gear insertion method, control system and medium thereof

Abstract

The present invention relates to rail transit rack railway technology, and in particular to a rack railway train gear engagement method, a control system and a medium thereof, comprising the following steps: a bogie gear maintains an engaged posture, and a train departs and drives toward a first beacon point; based on the train entering the first beacon point, the bogie gear is driven to rotate and the linear velocity of the train wheel is obtained; a driving device is controlled according to the linear velocity of the train wheel, and the angular acceleration of the bogie gear is adjusted so that the linear velocity of the bogie gear is the same as the linear velocity of the train wheel when the train enters a second beacon point; a virtual punctuation point is preset based on the train entering the second beacon point, and the distance traveled by the train from the virtual punctuation point to a rack-rail meshing point is determined by the virtual punctuation point; the driving device is controlled according to the distance traveled by the train from the virtual punctuation point to the rack-rail meshing point, and the gear speed of the bogie gear is controlled so that the bogie gear returns to the engaged posture when it reaches the rack-rail meshing point, thereby completing the meshing of the bogie gear and the rack.

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 gears and the rack due to the mismatched meshing relationship between the rack and the bogie gear. Existing solutions mostly involve adding mechanical auxiliary devices to the rack and reducing the speed at which the train 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 mechanical auxiliary devices are installed on the rack segments to achieve meshing of the racks and gears, which leads to reduced train travel efficiency, and to provide a rack railway train gear engagement method, control system and 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 off 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 wheel is obtained;

[0007] According to the linear velocity of the train wheels, the drive device is controlled to adjust the angular acceleration of the bogie gear so that the linear velocity of the train traveling to the bogie gear is the same as the linear velocity of the train wheels;

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

[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 position when it reaches 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 relates to 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 precisely controlled, so that the gear can be precisely engaged 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 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 to the rails, so that the train can achieve gear engagement without deceleration, thereby improving the train operation efficiency.

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

[0013] Based on the fact that the linear velocity of the train wheels remains constant, a mathematical model of the distance traveled 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 from the virtual point to the rack-rail meshing point is calculated as follows:

[0016] ;

[0017] in: The distance from the virtual mark to the rack-rail meshing point; is the gear speed of the bogie gear; is the angular velocity of the train wheel; 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] Determine the angle that needs to be adjusted for the bogie gear to return to the meshing position based on the gear rotation angle of the bogie gear during train travel;

[0021] Determine the distance from the second beacon point to the point where the bogie gear is in meshing posture, based on 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 to the bogie gear in meshing posture, and the virtual mark point position is updated according to the position of the bogie gear in meshing posture.

[0023] This method, by acquiring the gear rotation angle in real time and dynamically determining the position of the virtual mark, significantly improves the accuracy and reliability of rack-rail meshing, while also enhancing the train system's automation and adaptability to complex environments, reducing equipment wear and extending its service life.

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

[0025] Construct the gear rotation angle set of the bogie gear during train travel and the angle set that needs to be adjusted for the bogie gear to return to the meshing posture, as follows;

[0026] ;

[0027] ;

[0028] in: is the gear rotation angle set of the bogie gear during train travel; middle Representative bogie gears, Represents each bogie gear in the Measured point data; The set of angles that need to be adjusted for the bogie gear to return to the meshing posture; middle Representative bogie gears, Represents each bogie gear in the Measured point data;

[0029] Calculate the above formula and get;

[0030] ;

[0031] ;

[0032] in: Not greater than The largest integer; is the angle required for the bogie gear to return to the quasi-meshing posture; Z is the number of gear teeth.

[0033] Preferably, the specific process of determining the distance from the second beacon point to the bogie gear in meshing posture is as follows:

[0034] Determine the rotation angle of the bogie gear to return to the meshing posture according to the angle that needs to be adjusted when the bogie gear returns to the meshing posture;

[0035] The time required for the train to travel from the second beacon point to the virtual beacon point is deduced based on the angle of rotation of the bogie gear when it returns to the meshing position;

[0036] Based on the fact that the linear speed of the train wheels remains unchanged, the distance between the train and the virtual point is determined according to the time required for the train to travel from the second beacon point to the virtual point.

[0037] Preferably, the calculation formula for the distance of the train from the second beacon point to the virtual beacon point is:

[0038] ;

[0039] in: is the distance from the second beacon point to the virtual beacon point; r is the pitch circle radius of the bogie gear; is the angle required for the bogie gear to return to the quasi-meshing posture; is the angle of rotation of the bogie gear back to the meshing position; is an integer.

[0040] In a second aspect, the present invention provides a rack railway train gear entry control system for executing the above method:

[0041] The system includes a beacon group, an angle sensor, a vehicle head transponder antenna, a processor, and a memory group.

[0042] Preferably, the beacon group includes a first beacon point and a second beacon point; the first beacon point is set in the wheel-rail section, and the second beacon point is set in 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.

[0043] 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 the above-mentioned rack railway train gear engagement control system.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 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 train's operation, the train's speed and the angular acceleration of the bogie gear are precisely controlled, allowing the gear to precisely mesh with the rack, avoiding impact or damage between the gear and the rack due to speed mismatch. This method achieves intelligent control of the train's gear engagement process by setting beacon points and virtual beacon points, combined with the automatic adjustment of the gear speed and acceleration by the drive device. This not only improves the accuracy of the operation, but also reduces the need for manual intervention, thereby improving the system's operating efficiency. This method eliminates the need to add mechanical auxiliary devices to the rails, allowing the train to engage without decelerating, thereby improving the train's operating efficiency. Description of the Figures:

[0046] Figure 1 is a flow chart of the method of the present invention;

[0047] Figure 2 A schematic diagram of the bogie gear running on the railway;

[0048] Figure 3 This is a schematic diagram of the operation of the bogie gear after the train enters the first beacon point;

[0049] Figure 4 Schematic diagram of the bogie gear moving from the second beacon point to the rack-rail meshing point.

[0050] 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

[0051] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, this should not be understood as limiting the scope of the present invention to the following embodiments, and all technologies implemented based on the present invention fall within the scope of the present invention.

[0052] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or positional relationship, such as "upper", "lower", "left", "right", "center", "inside", and "outside", are based on the expressions of the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the invented product / device / apparatus is placed when it is conventionally used. These terms of orientation or positional relationship are merely for the purpose of facilitating the description of the scheme of the present invention or simplifying the description of the specific embodiments to facilitate the rapid understanding of the scheme by technicians, 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 positional relationship, and therefore should not be understood as limiting the present invention.

[0053] 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 relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simply understood that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", and "parallel", 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 solution of the present invention.

[0054] In addition, the expressions “first”, “second”, “third”, etc. 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.

[0055] In addition, in the description of the embodiments of the present invention, "several," "plurality," and "a number" represent at least two. It can also be any number such as two, three, four, five, six, seven, eight, nine, or even more than nine.

[0056] Furthermore, in the description of the technical solution of the present invention, unless otherwise expressly specified, defined, or limited, the terms "disposed," "installed," "connected," "connected," "provided with," "laid," and "arranged" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may be welding, riveting, bolting, threading, or other commonly used connection methods in the art. Such connections may be mechanical, electrical, or communication; they may be direct, indirect via an intermediate medium, or internal communication between two components.

[0057] Example 1

[0058] like Figures 1 to 2 A method for inserting a cog railway train into a gear is shown, and the method specifically comprises:

[0059] S1. When the train departs, the bogie gear 5 maintains an engaged posture and the meshing posture point is determined to be 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. At the same time, the linear velocity of the train wheels is obtained.

[0060] S2. Control the driving device based on the linear velocity of the train wheels, and continuously apply angular acceleration to the bogie gear 5 through the driving device, thereby adjusting the linear velocity of the bogie gear 5 so that the linear velocity of the bogie gear 5 is the same as the linear velocity of the train wheels when the train enters the second beacon point 2;

[0061] S3. After the train passes the second beacon point 2, a virtual beacon point 3 is preset to ensure that the bogie gear 5 can return to the meshing position when the train reaches the virtual beacon point 3 (i.e., point P on the bogie gear 5 moves to the position when the train departs); the distance between the virtual beacon point 3 and the meshing point 4 of the rack segment is calculated, and the gear speed of the bogie gear 5 is controlled according to the distance between the virtual beacon point 3 and the meshing point 4 of the rack segment. By controlling the gear speed, the bogie gear 5 can return to the meshing position after reaching the rack meshing point 4, thereby completing the meshing of the bogie gear 5 with the rack.

[0062] In one or more embodiments, the specific process of step S2 is:

[0063] S21: After the train enters the first beacon point 1, the train collects the linear velocity of the train wheels and ensures the angular velocity of the train wheels Constant; at the same time, the train drives the bogie gear 5 to rotate through the drive device;

[0064] S22. Control the drive device based on the linear velocity of the train wheels, apply angular acceleration to the bogie gear 5 through the drive 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.

[0065] In an optional implementation manner, the first mathematical model is specifically as follows:

[0066] ;

[0067] ;

[0068] Where: R is the radius of the train wheel; r is the pitch circle radius of the bogie gear; is the distance of the train from the first beacon point to the second beacon point; is the angular velocity of the train wheels; is the angular velocity of the bogie gear; angular acceleration; is the linear speed of the train wheels; is the linear velocity of the bogie gear.

[0069] 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.

[0070] In one or more embodiments, in step S3, the distance formula between the virtual mark point 3 and the rack segment meshing point 4 is as follows:

[0071] ;

[0072] in: The distance from the virtual mark to the rack-rail meshing point; is the gear speed of the bogie gear; is the angular velocity of the train wheel; R is the radius of the train wheel; is an integer.

[0073] In one or more embodiments, the method further comprises:

[0074] The gear rotation angle of bogie gear 5 is collected in real time while the train is running , rotate the gear by an angle Calculate and deduce the angle that needs to be adjusted for bogie gear 5 to return to the meshing position , construct the second mathematical model;

[0075] The angle that needs to be adjusted based on the bogie gear 5 returning to the meshing posture , calculating the angle at which the bogie gear 5 returns to the meshing position; calculating the distance between the train traveling from the second beacon point 2 and the position where the bogie gear 5 is in the meshing position based on the angle at which the bogie gear 5 returns to the meshing position, updating the position of the virtual beacon point 3 according to the position distance at which the bogie gear 5 is in the meshing position, and constructing a third mathematical model;

[0076] 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. Figures 3 and 4 As shown ( Figure 4 middle It means The position of the point after rotation.

[0077] In an optional implementation manner, the specific formula of the second mathematical model is as follows:

[0078] ;

[0079] ;

[0080] From the above formula The conclusion is:

[0081] ;

[0082] in: is the gear rotation angle set of bogie gear 5 during train travel; middle Representative bogie gears, Represents each bogie gear in the Measured point data; The angle set that needs to be adjusted for the bogie gear 5 to return to the meshing posture; middle Representative bogie gears, Represents each bogie gear in the Measured point data; Not greater than The largest integer; is the angle required for each bogie gear to return to the quasi-meshing posture; Z is the number of gear teeth.

[0083] In an optional implementation manner, the specific formula of the third mathematical model is as follows:

[0084] ;

[0085] ;

[0086] roll out:

[0087] ;

[0088] Bring in to obtain;

[0089] ;

[0090] in: is the distance from the second beacon point to the virtual beacon point; r is the pitch circle radius of the bogie gear; is the angle required for the bogie gear to return to the quasi-meshing posture; is the angle of rotation of the bogie gear back to the meshing position; is an integer; is the angular velocity of the train wheels; is the angular velocity of the bogie gear; is the linear speed of the train wheels; 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; and r is the pitch circle radius of the bogie gear.

[0091] Example 2

[0092] This embodiment 2 is a rack railway train gear entry control system, which is used to execute the method of embodiment 1:

[0093] The system includes a beacon group, an angle sensor, a head-mounted transponder antenna, a processor, and a memory group;

[0094] 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;

[0095] The head transponder antenna is arranged at the head of the train and can receive the signal reflected by the beacon group when the train passes by the beacon group;

[0096] The memory group is provided on the train and is used to store information collected by the sensor group and an instruction set executed by the processor;

[0097] The processor is provided on the train and is used to perform operations;

[0098] The angle sensor is arranged on the train and is used to collect the gear rotation angle information of the bogie gear 5.

[0099] Example 3

[0100] A computer-readable medium stores 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 as described in Example 1.

[0101] 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 scope of protection of the present invention.

Claims

1. A method for inserting a gear into a rack railway train, characterized in that: The following steps are involved: The bogie gear (5) remains in meshing position, and the train departs and heads 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 punctuation point (3) is preset based on the train entering the second punctuation point (2), wherein the virtual punctuation point (3) is used to determine the distance traveled by the train from the virtual punctuation point (3) to the rack-rail meshing point (4); According to the distance traveled by the train from the virtual mark point (3) to the rack-rail meshing point (4), the driving device is controlled to control the gear speed of the bogie gear (5), 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; The specific steps for 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 velocity 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); The distance traveled by the train from the virtual point (3) to the rack-rail meshing point (4) is as follows: ； in: The distance from the virtual mark to the rack-rail meshing point; is the gear speed of the bogie gear; is the angular velocity of the train wheel; R is the radius of the train wheel; is an integer; The method further comprises: The train collects the gear rotation angle of the bogie gear (5) in real time during the train's travel; Determining the angle that needs to be adjusted for the bogie gear (5) to return to the meshing posture based on the gear rotation angle of the bogie gear (5) during the train's travel; 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; Determining the position of the bogie gear (5) in the meshing posture according to the distance of the train from the second beacon point (2) to the bogie gear (5) in the meshing posture, and updating the position of the virtual mark point (3) according to the position of the bogie gear (5) in the meshing posture; The angle that needs to be adjusted for returning the bogie gear (5) 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 the meshing posture, specifically as follows; ； ； in: is the gear rotation angle set of the bogie gear (5) during the train running process; middle Representative bogie gears, Represents each bogie gear in the Measured point data; The angle set that needs to be adjusted for the bogie gear (5) to return to the meshing posture; middle Representative bogie gears, Represents each bogie gear in the Measured point data; Calculate the above formula and get; ； ； in: Not greater than The largest integer; is the angle required for each bogie gear to return to the quasi-meshing posture; Z is the number of gear teeth; 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; Deducing the time required for the train to travel from the second beacon point (2) to the virtual beacon point (3) based on the angle of rotation of the bogie gear (5) returning to the meshing posture; Based on the fact that the linear speed of the train wheels remains constant, the distance between the train and the virtual mark point (3) is determined according to the time required for the train to travel from the second mark point (2) to the virtual mark point (3); The calculation formula of the distance between the train and the second beacon point (2) and the virtual beacon point (3) is: ； in: is the distance from the second beacon point to the virtual beacon point; r is the pitch circle radius of the bogie gear; is the angle required for the bogie gear to return to the quasi-meshing posture; is the angle of rotation of the bogie gear back to the meshing position; is an integer.

2. A rack railway train gear entry control system, characterized in that: Used to execute the method described in claim 1: the system includes a beacon group, an angle sensor, a vehicle head transponder antenna, a processor, and a memory group.

3. A rack railway train gear entry control system according to claim 2, characterized in that: The beacon group includes a first beacon point (1) and a second beacon point (2); the first beacon point (1) is set at the wheel-rail section, and the second beacon point (2) is set at 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, and is used to store information collected by the sensor group and the instruction set executed by the processor; the processor is set on the train, and is used to perform operations; the angle sensor is set on the train, and is used to collect gear rotation angle information of the bogie gear (5).

4. A computer-readable medium having stored thereon instructions executable by a processor, wherein when the instructions are executed by the processor, the processor executes the method for tooth insertion of a rack railway train as claimed in claim 1.

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