Parallel double-track railway automatic track laying system and control method

Abstract

The invention belongs to the technical field of automatic laying construction of long steel rails, and particularly relates to an automatic rail laying system for a parallel double-track railway and a control method. The problems that in traditional long steel rail laying operation, manpower input is large, the automation level is low, and efficiency is low are solved, the side laying device comprises a main controller, a plurality of side laying devices, a positioning module and rotary driving units, each side laying device is provided with one rotary driving unit, and the side laying devices and the positioning module are installed on a rail laying vehicle; the side laying device comprises a transverse hydraulic cylinder, a vertical hydraulic cylinder, an electromagnetic proportional directional valve I, an electromagnetic proportional directional valve II, a linear displacement sensor and an oil pressure sensor, wherein the transverse hydraulic cylinder and the vertical hydraulic cylinder are connected to the fixed displacement oil pump through the independent electromagnetic proportional directional valve I and the independent electromagnetic proportional directional valve II respectively. The problems that in traditional long steel rail laying operation, manpower input is large, and round-trip construction time is long are solved, and the efficiency and the automation level of automatic long steel rail laying construction operation can be effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic laying construction of long rails, and particularly relates to an automatic rail laying system and a control method for a parallel double-track railway. Background Art

[0002] With the rapid development of high-speed railways in China, the automation of railway construction has received increasing attention. During the traditional laying construction of long rails for parallel lines, manual segmented operations are carried out using rail laying vehicles. Operators need to remotely control the hydraulic system manually through on-site feedback information such as cameras in the background, and the automation level is not high. In addition, on-site devices such as cameras are extremely vulnerable to the influence of the environment and weather. Coupled with the fact that manual remote operations often lack real state feedback, the operation errors are relatively large, and rework is likely to occur. And when the first line is laid, the rail laying equipment needs to return to the station for shunting operations through turnouts in order to carry out construction operations on the opposite railway. Therefore, the construction period is long, the manual cooperation is large, the cost is high, and the construction period is easily affected.

[0003] Therefore, it is necessary to improve the operation process through relevant technical means to achieve full automation, thereby improving construction accuracy and efficiency, reducing rework, and accelerating railway construction. Summary of the Invention

[0004] In order to solve the problems of large human input, low automation level and low efficiency in traditional long rail laying operations, the invention provides an automatic rail laying system and a control method for a parallel double-track railway.

[0005] The invention adopts the following technical solutions: An automatic rail laying system for a parallel double-track railway, comprising: A main controller, a plurality of side laying devices, a positioning module and a slewing drive unit. A slewing drive unit is installed on each side laying device, and the plurality of side laying devices and the positioning module are installed on a rail laying vehicle; The side laying device includes a horizontal hydraulic cylinder, a vertical hydraulic cylinder, an electromagnetic proportional direction valve I, an electromagnetic proportional direction valve II, a linear displacement sensor and an oil pressure sensor. The horizontal hydraulic cylinder and the vertical hydraulic cylinder are respectively connected to a fixed displacement oil pump through independent electromagnetic proportional direction valves I and II to form an open hydraulic circuit. Independent linear displacement sensors and oil pressure sensors are equipped on both the horizontal hydraulic cylinder and the vertical hydraulic cylinder; The main controller is configured to: Receive the global positioning signal of the positioning module and the pre-input installation position information of a plurality of side laying devices, and generate target control instructions for the plurality of side laying devices in combination with the design parameters of the railway to be laid; Closed-loop position servo control is performed on the horizontal hydraulic cylinder and the vertical hydraulic cylinder. After the control quantity is converted by digital-to-analog conversion, it is output to the electromagnetic proportional reversing valve I and the electromagnetic proportional reversing valve II to drive the horizontal hydraulic cylinder and the vertical hydraulic cylinder to reach the target stroke; In the scenario of double-track laying, the main controller sends a pulse signal to the slewing drive unit to drive the side laying device to rotate 180 degrees.

[0006] In some embodiments, the target control instruction is , X i is the target telescopic stroke of the horizontal hydraulic cylinder, Y i is the target telescopic stroke of the vertical hydraulic cylinder 。

[0007] In some embodiments, the process of performing closed-loop position servo control on the horizontal hydraulic cylinder and the vertical hydraulic cylinder includes: The control quantity is designed by using a constant-speed approach rate, and the flow control equation is derived as: , where Q is the input flow rate on the active side of the oil cylinder, is the flow coefficient; B is the opening of the electromagnetic proportional reversing valve; is the liquid density; is the pressure difference between the inlet and outlet sides of the electromagnetic proportional reversing valve; Based on the flow control equation, the spool control current equation of the electromagnetic proportional reversing valve is finally generated: , where I is the spool control current, sgn is the sign function, is the sliding mode gain coefficient, >0, is the maximum opening of the valve port, K is the elastic modulus of the hydraulic oil, is the volume of the active side chamber of the hydraulic cylinder, is the first derivative of the oil pressure on the active side of the oil cylinder, is the action area of the hydraulic oil on the active side; The spool control current is converted into a digital control quantity for outward output.

[0008] In some embodiments, the digital control quantity for outward output is calculated according to the following formula: In the formula, R is the internal resistance of the spool, is the system reference voltage.

[0009] In some embodiments, the process of the main controller sending a pulse signal to the slewing drive unit to drive the side laying device to rotate 180 degrees includes: The digital pulse signal sent by the main controller to the slewing controller of the slewing drive unit; The slewing controller sends a pulse signal to the stepper motor driver according to the following formula: In the formula, n represents the pulse period, is the value of the counter within the nth pulse period, is the value of the counter within the initial pulse period, is the step angle of the stepper motor, is the counting frequency of the controller, and both are inherent hardware parameters, represents the rotational angular velocity.

[0010] In some embodiments, an overflow valve I, an overflow valve II, and an overflow valve III are respectively arranged on the oil inlet side and the oil return side of the open hydraulic circuit. The overflow valve I and the overflow valve II are used to limit the maximum working pressure of the system, and the overflow valve on the oil return side is used to provide backpressure buffering. Moreover, the opening pressure values of the overflow valve I, the overflow valve II, and the overflow valve III are dynamically configured by the main controller to meet the hydraulic stability requirements under different load conditions.

[0011] In some embodiments, the main controller realizes the coordinated control of multiple side laying devices through the following logic: Calculate the estimated time for pushing the rail to the guide rail groove of the next side laying device in real time according to the traveling speed of the track laying vehicle; Generate a trigger delay command for the horizontal hydraulic cylinder based on the estimated time to ensure that after the adjustment of the previous side laying device is completed, the horizontal hydraulic cylinders of the next side laying device are started in sequence to form a continuous closed-loop linkage control.

[0012] A control method for an automatic track laying system based on a parallel double-track railway, including: Planning link: Divide the railway into several working sections according to the length of the rail to be laid, determine the number and arrangement interval of the side laying devices on the track laying vehicle, and input the information into the main controller; Positioning link: Obtain the absolute coordinates of the track laying vehicle through the positioning module, and calculate the target telescopic stroke of the horizontal hydraulic cylinders of each side laying device in combination with the design parameters of the railway to be laid and the installation interval of the side laying devices; Horizontal control link: Sequentially perform position closed-loop servo control on the horizontal hydraulic cylinders of each side laying device, and adjust its geometry during the rail pushing process to make it pass through the guide rail groove of the adjacent side laying device until the rail fits the geometry of the railway to be laid; Vertical control link: Simultaneously control the vertical hydraulic cylinders of each side laying device to perform position closed-loop servo control, and lower the rail into the rail seat groove to complete the laying.

[0013] In some embodiments, in a scenario where track laying operations are required on both sides simultaneously, when there is a need to turn, the side laying device is driven by a rotary motor to rotate 180 degrees to achieve a one-way double-track track laying operation.

[0014] In some embodiments, in the positioning step, the main controller generates the target telescopic stroke through the following steps: Construct the three-dimensional pose matrix of the track-laying vehicle in the absolute coordinate system based on the global positioning signal; Convert the track centerline equation in the design parameters of the railway to be laid into an absolute coordinate system; According to the installation interval of the side paving device and the track centerline equation, the lateral deviation between the guide rail groove of each side paving device and the theoretical track is solved to generate the corresponding target telescopic stroke.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. Construction efficiency is significantly improved: The slewing drive unit enables the side laying device to rotate 180 degrees, supporting single-pass double-track track laying operations, avoiding the U-turn operation of traditional track laying vehicles, and shortening the construction period; Based on collaborative control logic, multiple side-laying devices adjust the shape of the rails in sequence to form a continuous closed-loop operation flow, reduce the interval time between processes, and improve overall operation efficiency.

[0016] 2. Laying accuracy and quality optimization: The closed-loop servo control that integrates the global positioning module and the sliding mode control algorithm, combined with the high-precision displacement adjustment of the lateral / vertical hydraulic cylinder, achieves millimeter-level fitting of the rail geometry and design parameters, greatly reducing manual adjustment errors; The positioning algorithm based on the absolute coordinate system and the dynamic calculation technology of the track centerline deviation ensure the smooth transition and seamless connection of long rails under multiple working conditions.

[0017] 3. Enhanced system security and reliability: The pressure limiting function on the oil inlet side and the back pressure buffering function on the oil return side of the relief valve in the hydraulic circuit, combined with the dynamic pressure configuration of the main controller, effectively suppress the hydraulic shock caused by sudden load changes and extend the service life of the equipment. The introduction of sign function and gain coefficient in the sliding mode control algorithm improves the anti-interference ability of the hydraulic cylinder and avoids track deviation caused by external disturbances.

[0018] 4. Improved adaptability and intelligence: The main controller integrates global positioning data, design parameters and device status information in real time to dynamically generate target control instructions to meet the track laying requirements of complex lines; The precise mapping relationship between the flow control equation of the hydraulic cylinder and the spool current, combined with the digital control quantity output, realizes the intelligent response of the hydraulic system and reduces the dependence on manual operation.

[0019] A control method for an automatic track-laying system for parallel double-track railways proposed by the present invention can realize the automatic track-laying operation of the left and right parallel double-track rails according to the actual geometry of the railway to be laid during a single-way operation of the track-laying vehicle, solving the problems of large labor input and long round-trip construction time in traditional long-rail laying operations, and can effectively improve the efficiency and automation level of the long-rail automatic track-laying operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the hydraulic system of the side-laying device; Figure 2 It is a schematic diagram of the control structure of the automatic track-laying system for parallel double-track railways; Figure 3 It is a schematic diagram of the target motion curve of the slewing motor; In the figure: 1 - oil pump motor, 2 - fixed displacement oil pump, 3 - relief valve I, 4 - relief valve II, 5 - relief valve III, 6 - electro-hydraulic proportional directional valve I, 7 - electro-hydraulic proportional directional valve II, 8 - horizontal hydraulic cylinder, 9 - vertical hydraulic cylinder. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] An automatic track-laying system for parallel double-track railways includes: A main controller, a plurality of side-laying devices, a positioning module and a slewing drive unit. A slewing drive unit is installed on each side-laying device, and the slewing drive unit can drive the side-laying device to rotate 180 degrees. The side-laying device and the positioning module are installed on the track-laying vehicle; As Figure 1 shown, the side-laying device includes a horizontal hydraulic cylinder 8, a vertical hydraulic cylinder 9, an electro-hydraulic proportional directional valve I 6, an electro-hydraulic proportional directional valve II 7, a linear displacement sensor and an oil pressure sensor. The horizontal hydraulic cylinder 8 and the vertical hydraulic cylinder 9 are respectively connected to the fixed displacement oil pump 2 through independent electro-hydraulic proportional directional valves I 6 and II 7 to form an open hydraulic circuit. Independent linear displacement sensors and oil pressure sensors are equipped on both the horizontal hydraulic cylinder 8 and the vertical hydraulic cylinder 9; The main controller is configured to: Receive the global positioning signal of the positioning module and the installation position information of multiple pre-input side laying devices, and combine with the design parameters of the railway to be laid to generate target control instructions for multiple side laying devices; Perform closed-loop position servo control on the horizontal hydraulic cylinder 8 and the vertical hydraulic cylinder 9. After the control quantity is converted by digital-to-analog conversion, it is output to the electromagnetic proportional reversing valve I6 and the electromagnetic proportional reversing valve II7 to drive the horizontal hydraulic cylinder 8 and the vertical hydraulic cylinder 9 to reach the target stroke; In the double-track laying scenario, the main controller sends a pulse signal to the slewing drive unit to drive the side laying device to rotate 180 degrees.

[0023] As Figure 2 shown, the parallel double-track railway automatic track laying system requests actions from the horizontal hydraulic cylinder 8, the vertical hydraulic cylinder 9 and the slewing motor of the side laying device according to the needs by the main controller, and it receives the global positioning signal of the positioning module P to achieve the positioning of the vehicle itself in the absolute coordinate system. In addition, the operator needs to configure the information P i of the layout interval (and number) of the side laying devices (i.e., the installation position of the side laying devices) planned in advance and input it into the main controller. The main controller then combines the global positioning signal P and the expected planned design parameters of the railway to be laid, and fuses the three pieces of information, so as to obtain a set of target data i for each track laying device on the track laying vehicle respectively , that is, the target telescopic stroke of the horizontal hydraulic cylinder X i and the target telescopic stroke of the vertical hydraulic cylinder Y i ; at the same time, the main controller can send an action request to the slewing motor according to the need to lay tracks on both sides of the double track simultaneously in a single journey, so that each side laying device can be turned to the other side position.

[0024] The derivation process of the closed-loop position servo control process of the horizontal hydraulic cylinder 8 and the vertical hydraulic cylinder 9 is as follows: Specifically, according to the hydraulic transmission theory, the dynamic equations of the horizontal and vertical hydraulic cylinders in the side laying device both satisfy: Therefore, for the horizontal hydraulic cylinder 8 and the vertical hydraulic cylinder 9, they can be described by the following state equations: Among them, is the telescopic speed of the hydraulic cylinder, is the active side hydraulic oil acting area, that is, the acting area of the rod chamber / non-rod chamber of the oil cylinder (depending on the specific action of the oil cylinder), is the first derivative of the oil pressure on the active side of the oil cylinder, is the flow rate in the active side chamber of the hydraulic cylinder (i.e., for the horizontal and vertical hydraulic cylinders on the i-th side laying device, they are and ), is the elastic modulus of the hydraulic oil; for this system, its state variable is equal to the integral of the telescopic speed of the hydraulic cylinder in the time domain, that is, the telescopic stroke L of the hydraulic cylinder; is the volume of the active side chamber of the hydraulic cylinder, which can be calculated from the acting area and stroke of the hydraulic cylinder.

[0025] Considering the large static and dynamic loads generated on the side laying device during the railway track laying operation, in order to improve the system response speed and anti-disturbance performance, a sliding mode control algorithm is considered for the telescopic controller to achieve independent closed-loop pose servo control of the horizontal and vertical hydraulic cylinders on each side laying device.

[0026] For the above system, we expect its system state to approach the target quantity X i (or Y i ), so the sliding mode surface S is designed as (taking the horizontal hydraulic cylinder 8 in the horizontal control as an example): The sliding mode surface S can be understood as the error between the current state and the target state of the system, X i is the target telescopic stroke of the horizontal hydraulic cylinder 8; According to the classical control theory and Lyapunov criterion, when , it is considered that the system can converge effectively. For this reason, an equal-speed approaching rate (the target stroke X i is considered a constant) is adopted, and it can be set as: where sgn is the sign function, is the sliding mode gain coefficient, , so: The system control quantity, that is, the input flow rate Q of the active side of the hydraulic cylinder, can be obtained as: The actual stroke of the hydraulic cylinder and the active side oil pressure P (first derivative) as the system state feedback quantities can both be measured in real time by the linear displacement sensor and the oil pressure sensor; at the same time, according to the hydraulic transmission theory, the flow rate from the proportional reversing valve to the inside of the hydraulic cylinder satisfies the Bernoulli equation: wherein is the flow coefficient; B is the opening degree of the electromagnetic proportional directional valve; is the liquid density; is the pressure difference between the two sides of the inlet and outlet of the electromagnetic proportional directional valve, which can be calculated by the following formula: wherein is the output oil pressure of the hydraulic pump (the oil pump motor outputs in a constant pressure closed loop), P is the oil pressure of the oil cylinder, so the system control quantity can be further deduced to the opening degree B of the proportional directional valve: Furthermore, the opening degree B of the electromagnetic proportional directional valve is determined by the following formula: wherein is the maximum opening degree of the valve port; I is the spool control current, which is a vector, the positive and negative signs determine the movement direction of the spool, and the magnitude determines the movement stroke of the spool; Therefore, the system control quantity ultimately boils down to the spool control current of the electromagnetic proportional directional valve: where I is the spool control current, sgn is the sign function, is the sliding mode gain coefficient, >0, is the maximum opening degree of the valve port, K is the elastic modulus of the hydraulic oil, is the volume of the active side chamber of the hydraulic cylinder, is the first derivative of the oil pressure on the active side of the oil cylinder, is the acting area of the hydraulic oil on the active side.

[0027] Specifically, a telescopic controller is arranged in the side paving device to control the transverse hydraulic cylinder 8 and the vertical hydraulic cylinder 9 respectively. For the stroke L of the hydraulic cylinder and the oil pressure P on the active side in the oil cylinder, they are respectively measured in real time by a linear displacement sensor and an oil pressure sensor. Since the outputs of both sensors are analog signals, for the transverse hydraulic cylinder 8 and the vertical hydraulic cylinder 9 on the i-th side paving device, the measured transverse oil cylinder displacement , the transverse oil cylinder oil pressure , the vertical oil cylinder displacement , the vertical oil cylinder oil pressure The analog signals need to perform analog-to-digital conversion operations (ADC) before being input into the telescopic controller of the side paving device; and the telescopic controller of the side paving device outputs the spool control current / voltage of the electromagnetic proportional directional valve I6 and the electromagnetic proportional directional valve II7 as analog quantities, and needs to perform digital-to-analog conversion operations (DAC).

[0028] For the 12-bit precision DAC / ADC conversion module, the ADC calculation process is as follows: The DAC calculation process is as follows: Wherein, and are the input voltage and output voltage respectively, both of which are analog quantities; is the system reference voltage; and are the input digital quantity and output digital quantity respectively; Therefore, the lateral cylinder displacement , the lateral cylinder oil pressure , the vertical cylinder displacement , the vertical cylinder oil pressure The analog signals are converted into digital signals after being operated by the ADC , , and ; The control current of the spool of the proportional directional valve satisfies: Wherein, R is the internal resistance of the spool. Therefore, for the telescopic controller of the side-laying device, before the ADC operation, the digital control quantity it needs to output externally is: After the above process, each telescopic controller realizes the regulation of the in-cylinder flow by respectively controlling the spool actions of the electromagnetic proportional directional valve I6 and the electromagnetic proportional directional valve II7, and then respectively controls their strokes until the rail moves to the predetermined target position in two directions.

[0029] An overflow valve I3, an overflow valve II4 and an overflow valve III5 are respectively arranged on the oil inlet side and the oil return side of the open hydraulic circuit. The overflow valve I3 and the overflow valve II4 are used to limit the maximum working pressure of the system, and the overflow valve 5 on the oil return side is used to provide backpressure buffering. And the opening pressure values of the overflow valve I3, the overflow valve II4 and the overflow valve III5 are dynamically configured by the main controller to meet the hydraulic stability requirements under different load conditions.

[0030] The main controller realizes the coordinated control of multiple side-laying devices through the following logic: Calculate the estimated time for pushing the rail to the guide rail groove of the next side-laying device in real time according to the traveling speed of the rail-laying vehicle; Generate a trigger delay command for the lateral hydraulic cylinder 8 based on the estimated time to ensure that after the previous side-laying device is adjusted, the lateral hydraulic cylinder 8 of the next side-laying device starts in sequence to form a continuous closed-loop linkage control.

[0031] A control method based on an automatic track laying system for a parallel double-track railway, comprising: Planning stage: Divide the railway to be laid into several working sections according to the specific length of the rail material, and determine the number and layout interval of the side laying devices on the track laying vehicle to facilitate matching the rail geometry and bending and torsional stiffness. They are then installed in place at the corresponding positions and the relevant configuration information is input into the main controller.

[0032] Positioning link: The absolute coordinates of the track-laying vehicle are obtained through the positioning module. At the same time, according to the expected planning and design parameters of the railway to be laid, the positioning information of the track-laying vehicle relative to the railway to be laid can be obtained. Combined with the design parameters of the railway to be laid and the installation interval of the side-laying device, the target telescopic stroke of the transverse hydraulic cylinder 8 of each side-laying device is calculated.

[0033] In the positioning phase, the main controller generates the target telescopic stroke through the following steps: Construct the three-dimensional pose matrix of the track-laying vehicle in the absolute coordinate system based on the global positioning signal; Converting the track centerline equation in the design parameters of the railway to be laid into the absolute coordinate system; According to the installation interval of the side paving device and the track centerline equation, the lateral deviation between the guide rail groove of each side paving device and the theoretical track is solved to generate the corresponding target telescopic stroke.

[0034] Transverse control link: perform position closed-loop servo control on the transverse hydraulic cylinder 8 of each side-laying device in turn, adjust its geometric shape during the pushing process of the rails, and make it pass through the guide rail groove of the adjacent side-laying device. Specifically, when the rails are successfully inserted into the guide rail groove of the upper side-laying device, the transverse hydraulic cylinder is actuated to adjust the geometric shape of the rails and make it pass smoothly through the guide rail groove of the next side-laying device; the transverse hydraulic cylinders of each side-laying device are actuated in turn as the rails are continuously pushed, until the rails fit the geometric shape of the railway to be laid.

[0035] Vertical control link: Control the vertical hydraulic cylinder 9 of each side laying device to perform position closed-loop servo control. After the overall geometric shape of the long rail is adjusted into place, it is gently lowered until it falls into the rail bearing groove of the railway to be laid. At this point, the laying and placement of the rails in the working section on this side is completed, and you can enter the next working section or perform double-line operations on the other side.

[0036] In the scenario where track laying operations are required on both sides at the same time, when there is a need to turn, the slewing motor drives the side laying device to rotate 180 degrees to achieve one-way double-track track laying operations.

[0037] When the track-laying vehicle needs to perform double-track laying operations on both sides simultaneously during a one-way trip, the main controller can send a request signal to the rotary motors of each rotary drive unit to drive the side laying device of each rotary motor to make a 180-degree turn; the rotary motor adopts a stepper servo motor and is open-loop controlled by the main controller through the PWM pulse modulation method.

[0038] As Figure 3 shown, in order to make the side laying device rotate smoothly, a symmetric trapezoidal acceleration and deceleration method is adopted for operation. and It is necessary to calibrate according to the actual situation so that the side laying device can just complete a 180-degree turn at an appropriate speed. Its angular acceleration can be calculated by the following formula: Specifically, the rotary controller outputs a drive current according to the digital pulse signal sent by the main controller. For a subdivided stepper motor, in order to make it operate according to a predetermined curve, the counter value of the pulse signal sent by the controller to the stepper motor driver should conform to the following formula: In the formula, n represents the pulse period. is the value of the counter within the nth pulse period. is the value of the counter within the initial pulse period. is the step angle of the stepper motor. is the counting frequency of the controller. Both are inherent hardware parameters. represents the rotational angular velocity.

[0039] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic track laying system for a parallel double-track railway, characterized in that: include: A main controller, a plurality of side laying devices, a positioning module and a slewing drive unit, each side laying device is equipped with a slewing drive unit, and the plurality of side laying devices and the positioning module are installed on the track laying vehicle; The side paving device comprises a transverse hydraulic cylinder (8), a vertical hydraulic cylinder (9), an electromagnetic proportional reversing valve I (6), an electromagnetic proportional reversing valve II (7), a linear displacement sensor and an oil pressure sensor, wherein the transverse hydraulic cylinder (8) and the vertical hydraulic cylinder (9) are respectively connected to a fixed displacement oil pump (2) via independent electromagnetic proportional reversing valves I (6) and electromagnetic proportional reversing valves II (7) to form an open hydraulic circuit, and the transverse hydraulic cylinder (8) and the vertical hydraulic cylinder (9) are each equipped with an independent linear displacement sensor and an oil pressure sensor; The main controller is configured to: Receive the global positioning signal of the positioning module and the pre-input installation position information of multiple side-laying devices, and generate target control instructions for multiple side-laying devices in combination with the design parameters of the railway to be laid; Closed-loop position servo control is performed on the lateral hydraulic cylinder (8) and the vertical hydraulic cylinder (9), and the control quantity is output to the electromagnetic proportional reversing valve I (6) and the electromagnetic proportional reversing valve II (7) after digital-to-analog conversion, so as to drive the lateral hydraulic cylinder (8) and the vertical hydraulic cylinder (9) to reach the target stroke; In the double-track track laying scenario, the main controller sends a pulse signal to the slewing drive unit to drive the side laying device to rotate 180 degrees.

2. The automatic track laying system for parallel double-track railway according to claim 1, characterized in that: The target control instruction is , X i is the target telescopic stroke of the lateral hydraulic cylinder, Y i Target telescopic stroke of vertical hydraulic cylinder 。 3. The automatic track laying system for parallel double-track railway according to claim 1, characterized in that: The closed-loop position servo control process of the lateral hydraulic cylinder (8) and the vertical hydraulic cylinder (9) includes: The constant velocity approach rate is used to design the control quantity, and the flow control equation is derived: , where Q is the input flow rate on the active side of the cylinder, is the flow coefficient; B is the opening of the electromagnetic proportional reversing valve; is the liquid density; It is the pressure difference between the inlet and outlet of the electromagnetic proportional reversing valve; Based on the flow control equation, the valve core control current equation of the electromagnetic proportional reversing valve is finally generated: ,in I is the valve core control current, sgn is the sign function, is the sliding mode gain coefficient, >0, is the maximum opening of the valve port, K ​​is the elastic modulus of the hydraulic oil, is the volume of the active side chamber of the hydraulic cylinder, is the first-order derivative of the oil pressure actively measured by the cylinder, To actively measure the hydraulic oil action area; Convert the valve core control current into digital control quantity for external output.

4. The automatic track laying system for parallel double-track railway according to claim 3, characterized in that: The digital control quantity output to the outside is calculated according to the following formula: Where R is the internal resistance of the valve core, is the system reference voltage.

5. The automatic track laying system for parallel double-track railway according to claim 1, characterized in that: The main controller sends a pulse signal to the slewing drive unit to drive the side bunk device to rotate 180 degrees. The process includes: A digital pulse signal sent by the main controller to the slewing controller of the slewing drive unit; The rotary controller sends a pulse signal to the stepper motor driver according to the following formula: Where n represents the pulse period, is the value of the counter in the nth pulse cycle, is the value of the counter in the initial pulse period, is the step angle of the stepper motor, is the controller counting frequency, both of which are inherent hardware parameters. Represents the angular velocity of rotation.

6. The automatic track laying system for parallel double-track railway according to claim 1, characterized in that: The oil inlet side and the oil return side of the open hydraulic circuit are respectively provided with a relief valve I (3), a relief valve II (4) and a relief valve III (5), wherein the relief valve I (3) and the relief valve II (4) are used to limit the maximum working pressure of the system, and the relief valve (5) on the oil return side is used to provide back pressure buffering, and the opening pressure values ​​of the relief valve I (3), the relief valve II (4) and the relief valve III (5) are dynamically configured by the main controller to adapt to the hydraulic stability requirements under different load conditions.

7. The automatic track laying system for parallel double-track railway according to any one of claims 1 to 6, characterized in that: The main controller realizes the coordinated control of multiple side bunk devices through the following logic: The estimated time for pushing the rails to the guide rail groove of the next side laying device is calculated in real time according to the speed of the track laying vehicle; A trigger delay instruction for the transverse hydraulic cylinder (8) is generated based on the estimated time, ensuring that after the adjustment of the upper side paving device is completed, the transverse hydraulic cylinder (8) of the lower side paving device is started in sequence, forming a continuous closed-loop linkage control.

8. A control method for the automatic track laying system for a parallel double-track railway based on claim 1, characterized in that: include: Planning stage: Divide the railway into several working sections according to the length of the rails to be laid, determine the number and layout intervals of the side laying devices on the track laying vehicle, and input the information into the main controller; Positioning stage: The absolute coordinates of the track laying vehicle are obtained through the positioning module, and the target telescopic stroke of the transverse hydraulic cylinder (8) of each side laying device is calculated in combination with the design parameters of the railway to be laid and the installation interval of the side laying device; Transverse control link: performing closed-loop servo position control on the transverse hydraulic cylinder (8) of each side laying device in turn, adjusting the geometric shape of the rail during the pushing process, so that the rail passes through the guide rail groove of the adjacent side laying device until the rail fits the geometric shape of the railway to be laid; Vertical control link: simultaneously controlling the vertical hydraulic cylinders (9) of each side laying device to perform position closed-loop servo control, lowering the rails into the rail bearing grooves to complete laying.

9. The control method of the automatic track laying system for parallel double-track railway according to claim 8, characterized in that: In the scenario where track laying operations are required on both sides at the same time, when there is a need to turn, the slewing motor drives the side laying device to rotate 180 degrees to achieve one-way double-track track laying operations.

10. The control method of the automatic track laying system for parallel double-track railway according to claim 8, characterized in that: In the positioning link, the main controller generates the target telescopic stroke through the following steps: Construct the three-dimensional pose matrix of the track-laying vehicle in the absolute coordinate system based on the global positioning signal; Convert the track centerline equation in the design parameters of the railway to be laid into an absolute coordinate system; According to the installation interval of the side paving device and the track centerline equation, the lateral deviation between the guide rail groove of each side paving device and the theoretical track is solved to generate the corresponding target telescopic stroke.

Images