Control system and method for electrically-driven tread cleaning device of railway vehicle

Abstract

The invention relates to a control system and method for an electrically-driven tread cleaning device of a railway vehicle. The system comprises a tread cleaning control module, a motor driving module and a tread cleaning execution module which are integrated and in communication connection, the tread cleaning execution module comprises a shell, and the tread cleaning control module and the motor driving module are integrated in the shell; the tread cleaning control module is used for identifying the running state of the railway vehicle when the railway vehicle runs, and outputting a corresponding cleaning signal when the running state of the railway vehicle meets a preset condition; the motor driving module is used for outputting corresponding electromagnetic torque, rotating speed and rotating angle position according to the cleaning signal; the tread cleaning execution module is used for converting the electromagnetic torque, the rotating speed and the rotating angle position into corresponding cleaning actions and generating corresponding cleaning force. Compared with the prior art, the method has the advantages of improving the automation degree, the control precision and the response speed of the system and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of rail vehicle measurement and control, and in particular to a control system and method for an electric-driven tread cleaning device for a rail vehicle. Background Art

[0002] The tread cleaner is installed on the bogie of a rail vehicle to remove foreign matter between the wheel and rail, repair minor mechanical damage to the tread, increase the adhesion coefficient between the wheel and rail, and suppress wheel polygons, etc., to ensure the smooth and safe operation of rail transit vehicles.

[0003] At present, most of the control methods for rail vehicle tread cleaning use the control of the solenoid valve in the air circuit system based on the rail vehicle's own braking signal. For example, Chinese patent CN113954789A discloses a rail vehicle tread cleaning control method, which controls the application and release of the tread cleaner by controlling the action of the solenoid valve. Each car is equipped with a tread cleaning control device, and all wheels are equipped with tread cleaners. The air circuit board of the control device has a pressure limiting valve that limits the working air pressure to 300kPa, and a pressure switch is also provided to feedback the working status of the tread cleaner. However, the prior art still has the following problems:

[0004] 1) The control unit and the execution unit in the tread cleaning device are not centralized, and the air circuit system needs to be customized for different types of rail vehicles. The structure is complex and prone to leakage failures;

[0005] 2) The control structure is open-loop control, with poor control accuracy and responsiveness;

[0006] 3) The cleaning force cannot be adjusted during the control process, resulting in excessive wear of the grinding wheel in the tread cleaning device. Summary of the invention

[0007] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a control system and method for a rail vehicle electric tread cleaning device, which can identify the operating status of the rail vehicle and adaptively clean the tread of the rail vehicle based on the identified vehicle operating status, thereby further improving the system's degree of automation, control accuracy and response speed.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] According to a first aspect of the present invention, a control system of an electric-driven tread cleaning device for a rail vehicle is provided, comprising an integrated and communicatively connected tread cleaning control module, a motor drive module and a tread cleaning execution module, wherein the tread cleaning execution module comprises a shell, and the tread cleaning control module and the motor drive module are integrated in the shell; the tread cleaning control module is used to identify the running state of the rail vehicle when the rail vehicle is running, and output a corresponding cleaning signal when the running state of the rail vehicle meets a preset condition; the motor drive module is used to output a corresponding electromagnetic torque, a rotational speed and an angular position according to the cleaning signal; the tread cleaning execution module is used to convert the electromagnetic torque, the rotational speed and the angular position into a corresponding cleaning action, and generate a corresponding cleaning force.

[0010] As a preferred technical solution, the tread cleaning control module includes an operating status identification unit, a drive sensing unit and a control unit, the operating status identification unit includes an acceleration sensor, the drive sensing unit includes multiple sensors, and the control unit includes multiple controllers; the acceleration sensor is used to identify the installation angle of the electric tread cleaning device and the vehicle running acceleration, and the installation angle and the vehicle running acceleration are used to obtain the operating status of the rail vehicle; the sensor is used to collect corresponding signal data, and the signal data is used for closed-loop control feedback; the controller is used to determine whether the operating status of the rail vehicle meets the preset conditions according to the corresponding closed-loop control feedback, and output a corresponding cleaning signal when the preset conditions are met.

[0011] As a preferred technical solution, the drive sensing unit includes a current sensor, a pressure sensor, a motor speed sensor and an angle position sensor.

[0012] As a preferred technical solution, the control unit includes a cleaning force controller, a speed controller and a current controller.

[0013] As a preferred technical solution, the hardware part of the motor drive module includes an inverter, a motor and a sensor interface. The inverter is used to convert the cleaning signal into a motor drive signal, drive the motor to generate corresponding electromagnetic torque, rotational speed and angular position, and the sensor interface is correspondingly connected to the drive sensing unit; the tread cleaning execution module includes a cascaded deceleration and torque-increasing mechanism, a motion conversion mechanism and a cleaning force buffer mechanism. The deceleration and torque-increasing mechanism is used to amplify the electromagnetic torque, and the motion conversion mechanism is used to convert the rotational motion of the deceleration and torque-increasing mechanism into linear translation, pushing the grinder at the end of the execution module to press the vehicle wheel tread to generate a cleaning force, and the cleaning force buffer mechanism is used to buffer the impact caused by the unevenness of the vehicle wheel tread or installation errors.

[0014] As a preferred technical solution, the deceleration and torque increasing mechanism adopts a planetary reducer, the motion conversion mechanism adopts a ball screw, and the cleaning force buffer mechanism adopts a spring damping structure.

[0015] As a preferred technical solution, the rail vehicle running state includes vehicle running acceleration, and vehicle traction state, braking state, parking state, traction acceleration, braking deceleration and vehicle running speed obtained based on the vehicle running acceleration.

[0016] As a preferred technical solution, the preset conditions specifically include: when the identified vehicle running speed reaches a preset speed threshold and the rail vehicle is in a braking state, different levels of cleaning signals are generated according to the size of the braking deceleration.

[0017] As a preferred technical solution, the preset speed threshold is 30 km / h, and the different levels of cleaning signals include cleaning force signals of 150N and 300N.

[0018] According to a second aspect of the present invention, a control method for an electric-driven tread cleaning device for a rail vehicle is provided. The control method is implemented based on the control system and comprises the following steps: identifying the operating state of a rail vehicle when the rail vehicle is running; when the operating state of the rail vehicle meets a preset condition, outputting a corresponding cleaning signal; according to the cleaning signal, outputting a corresponding electromagnetic torque, rotation speed and angular position; converting the electromagnetic torque, the rotation speed and the angular position into a corresponding cleaning action and generating a corresponding cleaning force.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. In the present invention, the tread cleaning control module, the motor drive module and the tread cleaning execution module are designed in an integrated manner, and the tread cleaning control module and the motor drive module are integrated into the tread cleaning execution module. The system is fully electric-driven and compact in structure, which can overcome the problem of the control unit and the execution unit in the tread cleaning device in the prior art being not centralized. There is no need to customize the air circuit system for different types of rail vehicles, and leakage failures are not likely to occur;

[0021] 2. The present invention generates cleaning signals of different levels by identifying the status of rail vehicles and combining preset conditions, and has a high degree of intelligence;

[0022] 3. The tread cleaning control module of the present invention includes an operation state identification unit, a drive sensing unit and a control unit. The drive sensing unit includes a plurality of sensors for collecting signal data, and the signal data is used for closed-loop control feedback. A closed-loop control method is used to determine whether the operation state of the rail vehicle meets the preset conditions according to the corresponding closed-loop control feedback, and a corresponding cleaning signal is output when the preset conditions are met, so that the motor drive module outputs the corresponding electromagnetic torque, speed and angular position, which can effectively improve the control accuracy and responsiveness of the tread cleaning force of the rail vehicle;

[0023] 4. The present invention combines integrated design with closed-loop control of cleaning force, and can perform adaptive tread cleaning according to different types of vehicles. The cleaning force can be adjusted during the control process to avoid the problem of excessive wear of the grinding wheel in the tread cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the overall structure of a control system in an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of an overall control framework of a control system in an embodiment of the present invention;

[0026] Figure 3 A structural diagram of a tread cleaning execution module in a control system according to an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of a framework process of motor closed-loop control in an embodiment of the present invention;

[0028] Among them: 101, tread cleaning control module; 102, motor drive unit; 103, first part; 104, second part; 105, motor; 106, planetary reducer; 107, ball screw; 1061, planetary reducer output shaft; 1071, screw input shaft; 108, piston; 109, buffer spring; 110, grinder; 201, operation status identification unit; 202, drive sensor unit; 203, control unit. DETAILED DESCRIPTION

[0029] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0030] Example

[0031] The present invention provides a control system for an electric-driven tread cleaning device for a rail vehicle. The control system is an integrated design. The electric-driven tread cleaning device is installed on a rail vehicle bogie. Figure 1This is a schematic diagram of one of the overall structures of the control system. Figure 2 The figure shows an overall control framework of the control system.

[0032] The control system includes a tread cleaning control module 101, a motor drive module and a tread cleaning execution module which are connected in communication. The motor drive module includes a motor drive unit 102. The tread cleaning execution module includes a shell. The tread cleaning control module 101 and the motor drive unit 102 are integrated in the shell. The shell includes a first part 103 and a second part 104. The first part 103 also includes a motor 105. The tread cleaning control module 101 and the motor drive module use a serial port for communication interaction. When the control system is running, the tread cleaning control module 101 is used to identify the running state of the rail vehicle when the rail vehicle is running, and when the running state of the rail vehicle meets the preset conditions, the corresponding cleaning signal is output; the motor drive module is used to output the corresponding electromagnetic torque, rotation speed and angular position according to the cleaning signal; the tread cleaning execution module is used to convert the electromagnetic torque, rotation speed and angular position into a corresponding cleaning action, and press the tread of the vehicle wheel to generate a corresponding cleaning force.

[0033] Specifically, the tread cleaning execution module also includes a cascaded deceleration and torque-increasing mechanism, a motion conversion mechanism, and a cleaning force buffering mechanism. The deceleration and torque-increasing mechanism is used to amplify the electromagnetic torque output by the motor 105. This embodiment adopts a planetary reducer 106, which has the characteristics of not self-locking and small size; the motion conversion mechanism is used to convert the rotational motion of the output shaft of the deceleration and torque-increasing mechanism into linear translation. This embodiment adopts a ball screw 107, which uses the ball screw 107 to push the grinding child at the end of the execution module to press the vehicle wheel tread to generate a cleaning force; the cleaning force buffering mechanism is used to buffer the impact caused by the unevenness of the vehicle wheel tread or installation error. This embodiment adopts a spring damping structure, which has the function of buffering the impact force at the end of the execution module and protecting the motor. Figure 1 In the figure, the planetary reducer 106 includes a planetary reducer output shaft 1061, and the ball screw 107 includes a screw input shaft 1071. The planetary reducer output shaft 1061 extends out of the first part 103 of the shell and is connected in series with the screw input shaft 1071; the spring damping structure includes a piston 108 and a buffer spring 109, the piston 108 is sleeved on the outside of the ball screw 107 and partially located inside the second part 104 of the shell, and the end of the piston 108 extending out of the second part 104 is fixedly connected to the buffer spring 109, and the end is also the end of the entire tread cleaning execution module, and the end is fixedly connected to the grinder 110 on the outside. Figure 3The following is a simplified structural diagram of one of the tread cleaning execution modules in the control system of this embodiment. In the figure, the planetary reducer 106, the ball screw 107, the piston 108, the buffer spring 109 and the grinder 110 are cascaded in sequence, and the overall structure is compact and easy to install on various rail vehicle bogies. After the tread cleaning control module 101 outputs a cleaning signal to the motor drive module, the motor 105 drives the planetary reducer 106 and the ball screw 107, and then pushes the piston 108 to move linearly to generate the desired cleaning force.

[0034] like Figure 1 As shown, the control system provided in this embodiment integrates the tread cleaning control module 101 and the motor drive unit 102 into the first part 103 of the shell. A planetary reducer 106 is also provided inside the first part 103, and a ball screw 107 and a piston 108 are provided inside the second part 104. The overall structure of the control system is compact.

[0035] Specifically, the tread cleaning control module 101 includes an operation state identification unit 201, a drive sensing unit 202 and a control unit 203. The operation state identification unit 201 includes a three-axis acceleration sensor, the drive sensing unit 202 includes a current sensor, a pressure sensor, a motor speed sensor and an angular position sensor, the control unit 203 includes a cleaning force controller, a speed controller and a current controller, and the control unit 203 is connected to a power supply module, and the power supply module includes a DC / DC power supply and an LDO (low voltage difference linear regulated power supply). Among them, the three-axis acceleration sensor is used to identify the installation angle and vehicle running acceleration of the electric drive tread cleaning device, and the installation angle and vehicle running acceleration are used to obtain the running state of the rail vehicle; the sensor is used to collect current, pressure, motor speed and angular position signal data, and the collected signal data is used for closed-loop control feedback; the controller is used to judge whether the running state of the rail vehicle meets the preset conditions according to the corresponding closed-loop control feedback, and output a corresponding cleaning signal when the preset conditions are met.

[0036] For example, the tread cleaning control module 101 and the motor drive unit 102 are integrated by using a printed circuit board, and the two are installed by longitudinally stacking the boards. The three-axis acceleration sensor in the operation state identification unit 201 integrated in the tread cleaning control module 101 can be used to identify the installation angle of the electric tread cleaning device and the operation acceleration of the installed rail vehicle.

[0037] The installation angle identification method in the running state identification unit 201 is that the three-axis acceleration sensor collects data when the rail vehicle is stationary. The vector sum of the three-axis acceleration in this state is the gravity acceleration. The installation angle of the device where the three-axis acceleration sensor is located can be obtained by coordinate rotation.

[0038] The sensor coordinate transformation method in the running state identification unit 201 is to rotate the coordinate system of the three-axis acceleration sensor around the installation angle obtained by the installation angle identification, and turn one axis of the three-axis acceleration sensor to the vehicle running direction. The acceleration obtained by this method is the running acceleration of the rail vehicle. By processing the identified running acceleration, the partial running state of the train can be obtained, including the vehicle traction state, braking state, parking state, traction acceleration, braking deceleration and vehicle running speed, and there is no need to obtain the signal of the rail vehicle itself, and the above-mentioned state information can be obtained by providing a three-axis acceleration sensor.

[0039] The control unit 203 is based on an embedded system, and can collect and process data from the three-axis acceleration sensor in the operating state identification unit 201, the current sensor, pressure sensor, motor speed sensor and angular position sensor in the drive sensing unit 202. The collected signal data will be used as a closed-loop control feedback. At the same time, the partial operating state of the vehicle is obtained based on the three-axis acceleration sensor. When it meets the preset conditions, the control unit 203 outputs a cleaning signal corresponding to the cleaning force to the motor drive module. Optionally, the preset conditions specifically include: when the identified vehicle running speed reaches a preset speed threshold and the rail vehicle is in a braking state, different levels of cleaning signals are generated according to the size of the braking deceleration. For example, the preset speed threshold is 30km / h, and different levels of cleaning signals are reflected in the difference in cleaning force, which is divided into two sizes of cleaning force signals of 150N and 300N.

[0040] Specifically, the hardware part of the motor drive module mainly includes an inverter, a motor 105 and a sensor interface. The inverter is used to convert the cleaning signal generated by the control unit 203 into a motor drive signal, that is, a three-phase sine wave signal required for the drive motor, and the drive motor 105 generates corresponding electromagnetic torque, speed and angular position. The sensor interface is connected to the drive sensor unit 202 to collect relevant signal data. Among them, the motor type is a compact DC brushless motor; the motor output electromagnetic torque, speed and angular position are all closed-loop controlled; the motor electromagnetic torque and angular position are related to the cleaning force generated by the electric drive tread cleaning device, and the motor speed is related to the response time of the electric drive tread cleaning device to generate the cleaning force.

[0041] The software part of the motor drive module is processed by the control unit 203, and the motor closed-loop control process is realized by the cleaning force controller, speed controller, current controller and various sensor feedback. Figure 4 The figure shows a framework process of motor closed-loop control. The sweeping force controller, speed controller and current controller adopt a three-stage series structure, and the motor control system is a current controller, a speed controller and a sweeping force controller from the inner loop to the outer loop.

[0042] The control unit 203 receives the cleaning force signal generated by the operation status identification unit 201 and generates a desired cleaning force. The input signal of the cleaning force controller is the deviation between the desired cleaning force and the pressure sensor, and the output is the motor target speed; the input signal of the speed controller is the deviation between the above-mentioned motor target speed and the motor speed sensor, and the output is the motor target dq axis current; the input signal of the current controller is the deviation between the above-mentioned motor target dq axis current and the dq axis current obtained by the current sensor after the Clark transformation process and the Park transformation process, and the output is the voltage vector Vdq on the motor winding; the Park inverse transformation process converts the voltage vector Vdq into the motor orthogonal voltage value Vαβ in a two-phase stationary coordinate system, and the SVPWM (Space Vector Pulse Width Modulation) process is used to convert the motor orthogonal voltage value Vαβ into the three-phase pulse width modulation signal required by the inverter.

[0043] Exemplarily, the cleaning force controller, speed controller and current controller all adopt PI controllers, and the three-stage series closed-loop control structure has the closed-loop control of the cleaning force, motor speed and current at the same time, so that the tread cleaning process has the characteristics of adjustable cleaning force, variable response speed and diversified cleaning actions.

[0044] Furthermore, this embodiment also provides a control method for a rail vehicle electric tread cleaning device, which first identifies the running state of the rail vehicle when the rail vehicle is running; then, when the running state of the rail vehicle meets the preset conditions, outputs a corresponding cleaning signal; then, according to the cleaning signal, outputs the corresponding electromagnetic torque, speed and angular position; finally, converts the electromagnetic torque, speed and angular position into a corresponding cleaning action and generates a corresponding cleaning force. This control method is implemented based on the aforementioned control system, and the method implementation process is basically the same as the control process of the aforementioned control system, which will not be repeated here.

[0045] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A control system for an electric tread cleaning device for a rail vehicle, characterized in that: It includes an integrated and communicatively connected tread cleaning control module, a motor driving module and a tread cleaning execution module, wherein the tread cleaning execution module includes a housing, and the tread cleaning control module and the motor driving module are integrated in the housing; The tread cleaning control module is used to identify the running state of the rail vehicle when the rail vehicle is running, and when the running state of the rail vehicle meets the preset conditions, output a corresponding cleaning signal; The motor drive module is used to output corresponding electromagnetic torque, rotation speed and angular position according to the cleaning signal; The tread cleaning execution module is used to convert the electromagnetic torque, the rotation speed and the angular position into a corresponding cleaning action and generate a corresponding cleaning force.

2. The control system of the rail vehicle electric tread cleaning device according to claim 1, characterized in that: The tread cleaning control module includes an operation state recognition unit, a drive sensing unit and a control unit, wherein the operation state recognition unit includes an acceleration sensor, the drive sensing unit includes a plurality of sensors, and the control unit includes a plurality of controllers; The acceleration sensor is used to identify the installation angle of the electric tread cleaning device and the vehicle running acceleration, and the installation angle and the vehicle running acceleration are used to obtain the running state of the rail vehicle; The sensor is used to collect corresponding signal data, and the signal data is used for closed-loop control feedback; The controller is used to determine whether the running state of the rail vehicle meets the preset conditions according to the corresponding closed-loop control feedback amount, and output a corresponding cleaning signal when the preset conditions are met.

3. The control system of the electric-driven tread cleaning device for rail vehicles according to claim 2, characterized in that: The drive sensing unit includes a current sensor, a pressure sensor, a motor speed sensor and an angle position sensor.

4. The control system of the rail vehicle electric tread cleaning device according to claim 2, characterized in that: The control unit includes a cleaning force controller, a rotation speed controller and a current controller.

5. The control system of the rail vehicle electric tread cleaning device according to claim 1, characterized in that: The hardware part of the motor drive module includes an inverter, a motor and a sensor interface. The inverter is used to convert the cleaning signal into a motor drive signal to drive the motor to generate corresponding electromagnetic torque, speed and angular position. The sensor interface is correspondingly connected to the drive sensor unit. The tread cleaning execution module includes a cascaded deceleration and torque-increasing mechanism, a motion conversion mechanism and a cleaning force buffering mechanism. The deceleration and torque-increasing mechanism is used to amplify the electromagnetic torque. The motion conversion mechanism is used to convert the rotational motion of the deceleration and torque-increasing mechanism into linear translation, pushing the grinder at the end of the execution module to press the vehicle wheel tread to generate a cleaning force. The cleaning force buffering mechanism is used to buffer the impact caused by the unevenness of the vehicle wheel tread or installation errors.

6. The control system of the rail vehicle electric tread cleaning device according to claim 5, characterized in that: The deceleration and torque increasing mechanism adopts a planetary reducer, the motion conversion mechanism adopts a ball screw, and the cleaning force buffer mechanism adopts a spring damping structure.

7. The control system of the rail vehicle electric tread cleaning device according to claim 1, characterized in that: The rail vehicle running state includes vehicle running acceleration, and vehicle traction state, braking state, parking state, traction acceleration, braking deceleration and vehicle running speed obtained based on the vehicle running acceleration.

8. The control system of the rail vehicle electric tread cleaning device according to claim 7, characterized in that: The preset conditions specifically include that when the identified vehicle running speed reaches a preset speed threshold and the rail vehicle is in a braking state, different levels of cleaning signals are generated according to the magnitude of the braking deceleration.

9. The control system of the rail vehicle electric tread cleaning device according to claim 8, characterized in that: The preset speed threshold is 30 km / h, and the different levels of cleaning signals include cleaning force signals of 150N and 300N.

10. A control method for a rail vehicle electric tread cleaning device, characterized in that: The control method is implemented based on the control system according to any one of claims 1 to 9, comprising the following steps: Identify the operating status of rail vehicles while the rail vehicles are in operation; When the running state of the rail vehicle meets the preset conditions, a corresponding cleaning signal is output; According to the cleaning signal, the corresponding electromagnetic torque, rotation speed and angular position are output; The electromagnetic torque, the rotation speed and the rotation angle position are converted into corresponding cleaning actions, and corresponding cleaning forces are generated.

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