A method for controlling and monitoring the state of a pantograph for an electrified road

Abstract

The present application relates to the technical field of pantograph, in particular to a kind of electrified highway pantograph control and state monitoring method, comprising the following steps, based on the real-time operation state of pantograph, the operating data of pantograph contact pressure, voltage, current and vehicle speed are collected, segmented by vehicle driving path number, the change trend of contact pressure is calculated, and path gradient index data is obtained.In the present application, the segmented data collection of contact pressure, voltage, current and vehicle speed is associated with track number processing, which improves the diversity of monitoring data and the change capture ability of track pressure, through the cooperative correlation analysis of pantograph slide plate state, current change and pressure fluctuation, effectively reduces the fault range, enhances the accuracy of fault location, can identify potential offset area and imbalance point in track, and through distribution characteristic analysis, the precision of contact point fluctuation mark is optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pantograph, in particular to a method for controlling and monitoring the state of a pantograph for electrified highway. BACKGROUND

[0002] The technical field of state monitoring refers to the technology of real-time monitoring, analyzing and diagnosing the running state of equipment or system through sensor, data acquisition, signal processing and analysis algorithm, etc. State monitoring technology is widely used in mechanical equipment, power system, transportation and other fields. Its core goal is to discover abnormal state or potential failure of equipment in time, so as to carry out preventive maintenance or optimize operation, improve the reliability, efficiency and safety of system operation. Typical state monitoring contents include vibration, temperature, electrical parameters, wear condition, etc. Usually, through the combination of Internet of Things, big data and artificial intelligence technology, automatic and intelligent monitoring and diagnosis functions are realized.

[0003] Among them, the real-time monitoring and control of the working state of the pantograph are used to ensure the stable connection of the pantograph and the electrified highway power supply system, to ensure that the vehicle can efficiently and continuously obtain power from the road during operation, and to improve the safety and reliability of the equipment through state monitoring means, reduce sudden failures during operation, and meet the demand for clean energy and intelligent transportation in modern transportation systems.

[0004] Due to the dependence on single or small number of operating parameters, the details of pressure fluctuation mutation in the trajectory are easily ignored when capturing the dynamic correlation between complex trajectory changes and pantograph slide plate state, the correlation between current change and pressure fluctuation cannot be identified, the identification of abnormal section is difficult to accurately locate, the trajectory deviation and contact point fluctuation range are large, which affects the accurate judgment of fault area, in the real-time analysis of arc fluctuation and pressure deviation, the contact point fault range is easy to be fuzzy, which delays the implementation of dynamic adjustment strategy, in the dynamic adjustment of lifting mechanism, the lifting action is not flexible, which leads to excessive adjustment or insufficient adjustment, and further increases the equipment wear and reduces the operation efficiency. SUMMARY

[0005] In order to solve the technical problems in the prior art that, due to dependence on single or small number of operation parameters, details of pressure fluctuation mutation in the track are easy to be ignored in capturing dynamic correlation between complex track change and pantograph slide state, correlation between current change and pressure fluctuation cannot be identified, abnormal section identification is difficult to accurately locate, track deviation and contact point fluctuation range are large, real-time analysis of arc fluctuation and pressure deviation is easy to cause contact point fault range to be fuzzy, dynamic adjustment strategy implementation is delayed, in dynamic adjustment of lifting mechanism, lifting action is not flexible, leading to excessive adjustment or insufficient adjustment, thereby increasing equipment wear and reducing operation efficiency, the embodiment of the present application provides an electrified highway pantograph control and state monitoring method. The technical solution is as follows:

[0006] In one aspect, an electrified highway pantograph control and state monitoring method is provided, comprising the following steps:

[0007] S1: based on real-time operation state of the pantograph, collecting operation data of pantograph contact pressure, voltage, current and vehicle speed, segmenting through vehicle driving path number, calculating change trend of contact pressure, and obtaining path gradient index data;

[0008] S2: based on the path gradient index data, calculating pressure fluctuation amplitude according to change trend of contact point pressure in the path number, monitoring pantograph surface state in the track section according to track position of fluctuation value anomaly, and obtaining pressure fluctuation characteristics;

[0009] S3: based on the pressure fluctuation characteristics, identifying corresponding pantograph state, current change and pressure fluctuation amplitude data, calculating difference value of pressure and current change, identifying track section of pressure and current correlation imbalance, and analyzing track distribution characteristics of fluctuation data to obtain dynamic distribution characteristic data;

[0010] S4: based on the dynamic distribution characteristic data, analyzing pantograph contact pressure and arc fluctuation under vehicle driving path number, identifying offset over-limit contact point, determining correlation between pantograph and track position, and obtaining contact point offset characteristics;

[0011] S5: based on the contact point offset characteristics, analyzing pressure fluctuation and arc offset value of the contact point, comparing pressure fluctuation and electric parameter difference of the pantograph on the track, identifying track associated with the fault point, and obtaining fault track marking result;

[0012] S6: based on the fault track marking result, adjusting pantograph lifting mechanism control parameter, setting lifting height and contact point pressure range, and re-collecting operation parameters of the pantograph to obtain track pressure dynamic optimization table.

[0013] Optionally, the path gradient index data comprises pressure change trend, mutation point, the pressure fluctuation feature comprises fluctuation amplitude, position difference comparison result, abnormal position monitoring state, the dynamic distribution feature data comprises imbalance section identification result, trajectory distribution analysis state, the contact point offset characteristic specifically refers to pressure distribution analysis result, arc fluctuation identification information, offset over-limit position, and the trajectory pressure dynamic optimization table comprises control parameter adjustment log, pantograph action analysis data and matching degree analysis result.

[0014] Optionally, based on the real-time operation state of the pantograph, operation data of the pantograph contact pressure, voltage, current and vehicle speed are collected, the operation data are segmented by vehicle driving path number, the change trend of the contact pressure is calculated, and the pressure gradient mutation point is marked to obtain path gradient index data.

[0015] S101: Based on the real-time operation state of the pantograph, operation data of the pantograph contact pressure, voltage, current and vehicle speed are collected, the time stamp and geographical position of the data are recorded synchronously, the abnormal state in the data is identified, and a data collection record set is obtained.

[0016] S102: Based on the data collection record set, the operation data are segmented according to the vehicle driving path number, the contact pressure of the segmented data is analyzed, the change trend of the pressure is identified, and the pressure change of adjacent intervals is classified and processed to obtain a contact pressure change analysis result.

[0017] S103: Based on the contact pressure change analysis result, the change trend of the contact pressure of each path segment is calculated, the pressure change amount of adjacent time points is compared, and the pressure gradient mutation point is identified to obtain path gradient index data.

[0018] Optionally, based on the path gradient index data, the pressure fluctuation amplitude is calculated according to the change trend of the contact point pressure in the path number, the difference between the trajectory position and the fluctuation value is compared, and the pantograph surface state in the trajectory section is monitored according to the trajectory position of the fluctuation value anomaly to obtain pressure fluctuation feature.

[0019] S201: Based on the path gradient index data, the contact point pressure data corresponding to each path number is extracted, the pressure difference between each data point is quantitatively calculated, and the pressure point difference value is statistically analyzed to obtain pressure fluctuation amplitude data.

[0020] S202: Based on the pressure fluctuation amplitude data, the correlation between the pressure fluctuation amplitude and the trajectory position is analyzed, the trajectory position with the difference from the average fluctuation value is screened, and the fluctuation abnormal trajectory position is obtained.

[0021] S203: Monitor the surface state of the pantograph based on the fluctuation abnormal trajectory position, analyze the correlation between the pantograph surface state characteristics and the pressure fluctuation data according to the abnormal trajectory section, and obtain the pressure fluctuation characteristics.

[0022] Optionally, based on the pressure fluctuation characteristics, the corresponding pantograph state, current change and pressure fluctuation amplitude data are identified, the difference value of pressure and current change is calculated, the trajectory section of pressure and current correlation imbalance is identified, and the trajectory distribution characteristics of fluctuation data are analyzed to obtain dynamic distribution characteristic data.

[0023] S301: Based on the pressure fluctuation characteristics, the pantograph state data and current fluctuation data are segmented collected, the contact pressure and current fluctuation value of each data point are extracted, and the corresponding relationship between data points is analyzed, the matching parameters between pressure fluctuation and current change are screened, and the pressure fluctuation matching parameters are obtained.

[0024] S302: Based on the pressure fluctuation matching parameters, the difference between pressure and current change is calculated, the deviation section of pressure and current change is screened, and the imbalance interval between pressure and current correlation is determined to obtain the imbalance section parameter set.

[0025] S303: Based on the imbalance section parameter set, the distribution characteristics of fluctuation data of trajectory section are extracted, the spatial distribution characteristics of pressure fluctuation and current change are analyzed, and the dynamic distribution characteristic data are obtained.

[0026] Optionally, the formula for calculating the difference between pressure and current change is:

[0027]

[0028] The deviation section of pressure and current change is screened, the imbalance interval between pressure and current correlation is determined, and the imbalance section parameter set is obtained, wherein Δ diff represents the standardized absolute value of the difference between pressure and current change, PS t represents the pressure value at time t, I t represents the current value at time t, and N represents the number of samples.

[0029] Optionally, based on the dynamic distribution characteristic data, the pantograph contact pressure and arc fluctuation under the vehicle driving path number are analyzed, the contact point deviating from the limit is identified, the correlation between the pantograph and the track position is determined, and the contact point deviation characteristics are obtained.

[0030] S401: Based on the dynamic distribution characteristic data, the pantograph contact pressure and arc fluctuation under the vehicle driving path are analyzed, the relationship between the arc fluctuation amplitude and the contact pressure change is evaluated, the abnormal fluctuation point is identified, and the abnormal fluctuation point data are obtained.

[0031] S402: Screen the data points of the arc fluctuation and the contact pressure fluctuation exceeding the limit based on the abnormal fluctuation point data, compare the numerical relationship between the pressure fluctuation and the arc fluctuation, identify the contact points with deviation exceeding the limit, and obtain the characteristics of the contact points exceeding the limit;

[0032] S403: Based on the characteristics of the contact points exceeding the limit, analyze the pressure change and the arc fluctuation distribution of the offset contact points in the track section, calculate the position of the contact points on the path number, determine the correlation between the contact point position and the pressure distribution, and obtain the offset characteristics of the contact points.

[0033] Optionally, the data points of the arc fluctuation and the contact pressure fluctuation exceeding the limit are screened, the standard deviation of the pressure fluctuation is calculated, and the formula is used:

[0034]

[0035] The numerical relationship between the pressure fluctuation and the arc fluctuation is compared, the contact points with deviation exceeding the limit are identified, and the characteristics of the contact points exceeding the limit are obtained, wherein Δp represents the standard deviation of the pressure fluctuation, P i represents the contact pressure value of the i-th data point, represents the average value of the contact pressure value, and n represents the total number of data points.

[0036] Optionally, based on the offset characteristics of the contact points, the pressure fluctuation and the arc offset value of the contact points are analyzed, the pressure fluctuation and the electrical parameter difference of the pantograph on the track are compared, the track associated with the fault point is identified, and the step of obtaining the fault track marking result is specifically:

[0037] S501: Based on the offset characteristics of the contact points, analyze the pressure fluctuation and the arc offset data of the contact points in operation, arrange the data in time sequence, and determine the corresponding relationship between the pressure and the arc parameters, and obtain the pressure and arc matching information;

[0038] S502: Based on the pressure and arc matching information, analyze the change of the pressure fluctuation value and the arc offset value, calculate the amplitude range of the pressure fluctuation and the deviation value of the arc offset, and analyze the numerical correlation and trend change, and obtain the fluctuation deviation identification table;

[0039] S503: Based on the fluctuation deviation identification table, screen the track characteristics of abnormal fluctuation, mark the track position parameters and time information of abnormal fluctuation, and obtain the fault track marking result.

[0040] Optionally, based on the fault track marking result, adjust the pantograph lifting mechanism control parameters according to the position of the fault point and the path number, set the lifting height and the range of the contact point pressure, and re-collect the operation parameters of the pantograph, analyze the matching degree of the pantograph action and the track position, and obtain the track pressure dynamic optimization table.

[0041] S601: Based on the fault trajectory marking result, refine the path number and trajectory position parameters of the fault point, evaluate the deviation from the existing control parameters, and reset the operation range of the pantograph lifting mechanism to obtain a pantograph control parameter summary;

[0042] S602: Based on the pantograph control parameter summary, reacquire pressure fluctuation data and lifting height data during pantograph operation, group data according to difference time and position, and identify the fluctuation range and height change of each trajectory segment to obtain a pantograph operating state;

[0043] S603: Based on the pantograph operating state, analyze the matching degree between pressure fluctuation and trajectory position, evaluate the relationship between lifting height change and pressure fluctuation, filter out trajectory key points with high matching degree, and analyze the running parameter change trend of the key points to obtain a trajectory pressure dynamic optimization table.

[0044] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0045] By associating the segmented data collection of contact pressure, voltage, current and vehicle speed with trajectory number, the diversity of monitoring data and the change capture ability of trajectory pressure are improved. Through the cooperative correlation analysis of pantograph slide state, current change and pressure fluctuation, the fault range is effectively reduced, the accuracy of fault positioning is enhanced, potential deviation areas and imbalance points in the trajectory can be identified, and the accuracy of contact point fluctuation marking is optimized through distribution characteristic analysis. Based on the trajectory fault marking, through dynamic adjustment of the pantograph slide lifting parameters and redistribution of the trajectory pressure, real-time optimization of the trajectory dynamic change is realized, the running fault is reduced, the stability of the monitoring system is improved, and the cooperative operation effect of the pantograph and the power supply network is improved. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0047] Figure 1 is the main step flowchart of the present application;

[0048] Figure 2 is the step flowchart of S1 of the present application;

[0049] Figure 3 is the step flowchart of S2 of the present application;

[0050] Figure 4 Step flow chart for S3 of the present application;

[0051] Figure 5 Step flow chart for S4 of the present application;

[0052] Figure 6 Step flow chart for S5 of the present application;

[0053] Figure 7 Step flow chart for S6 of the present application. DETAILED DESCRIPTION

[0054] The technical solutions in the present application will be described below with reference to the drawings.

[0055] In the embodiments of the present application, the words such as "example", "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two.

[0056] In the embodiments of the present application, "image" and "picture" can be used interchangeably at times, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized. "Of", "corresponding" and "corresponding" can be used interchangeably at times, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized.

[0057] In the embodiments of the present application, sometimes the subscript such as W1 can be written in the form of non-subscript such as W1, and the meanings expressed are consistent when the distinction is not emphasized.

[0058] In order to make the technical problems, technical solutions and advantages to be solved by the present application more clear, the following will be described in detail with reference to the drawings and specific embodiments.

[0059] The embodiments of the present application provide an electrified highway pantograph control and state monitoring method, as shown in Figure 1 The method comprises the following steps:

[0060] S1: Based on the real-time running state of the pantograph, collecting the running data of the pantograph contact pressure, voltage, current and vehicle speed, segmenting through vehicle driving path numbering, calculating the change trend of the contact pressure, and marking the pressure gradient mutation point to obtain path gradient index data;

[0061] S2: Based on the path gradient index data, the pressure fluctuation amplitude is calculated according to the change trend of the contact point pressure in the path number, the difference between the track position and the fluctuation value is compared, and the track section of the abnormal fluctuation value is monitored according to the track position of the abnormal fluctuation value, the pantograph surface state in the track section is monitored, and the pressure fluctuation characteristics are obtained;

[0062] S3: Based on the pressure fluctuation characteristics, the corresponding pantograph state, current change and pressure fluctuation amplitude data are identified, the difference value of the pressure and current change is calculated, the imbalance track section of the pressure and current correlation is identified, and the track distribution characteristics of the fluctuation data are analyzed, and the dynamic distribution characteristic data is obtained;

[0063] S4: Based on the dynamic distribution characteristic data, the pantograph contact pressure and arc fluctuation under the vehicle driving path number are analyzed, the contact point deviating from the limit is identified, the correlation between the pantograph and the track position is determined, and the contact point deviation characteristics are obtained;

[0064] S5: Based on the contact point deviation characteristics, the pressure fluctuation and arc deviation value of the contact point are analyzed, the pressure fluctuation and electric parameter difference of the pantograph on the track are compared, the track associated with the fault point is identified, and the fault track marking result is obtained;

[0065] S6: Based on the fault track marking result, the pantograph lifting mechanism control parameters are adjusted according to the position of the fault point and the path number, the lifting height and the range of contact point pressure are set, and the operation parameters of the pantograph are collected again, the matching degree of pantograph action and track position is analyzed, and the track pressure dynamic optimization table is obtained.

[0066] The path gradient index data includes pressure change trend, mutation point, pressure fluctuation characteristics include fluctuation amplitude, position difference comparison result, abnormal position monitoring state, dynamic distribution characteristic data includes imbalance section identification result, track distribution analysis state, contact point deviation characteristics specifically refer to pressure distribution analysis result, arc fluctuation identification information, deviation position, track pressure dynamic optimization table includes control parameter adjustment log, pantograph action analysis data and matching degree analysis result.

[0067] As shown in Figure 2 Based on the real-time running state of the pantograph, the running data of the pantograph contact pressure, voltage, current and vehicle speed are collected, the running path number of the vehicle is segmented, the change trend of the contact pressure is calculated, and the pressure gradient mutation point is marked, and the path gradient index data is obtained.

[0068] S101: Based on the real-time running state of the pantograph, the running data of the pantograph contact pressure, voltage, current and vehicle speed are collected, the time stamp and geographical position of the data are recorded synchronously, the abnormal state in the data is identified, and the data collection record set is obtained;

[0069] The sensor assembly is used to sample the contact pressure, voltage and current of the pantograph point by point. The sensor is installed near the connection point of the pantograph slide and the current collector. The vehicle speed is collected by the vehicle-mounted speed measuring device in real time and sampled synchronously with other parameters. The time stamp of the recorded data is generated by a high-precision clock. At the same time, the geographic position information is collected by the vehicle-mounted GPS device in real time and matched. The received raw data is filtered and noise is removed. The sliding window average method is used to remove spike data and outliers. Then, the threshold is set to detect abnormal data. The time, geographic location and corresponding operating parameters of the abnormal point are recorded and stored as a data collection record set.

[0070] S102: Based on the data collection record set, the contact pressure of the segmented data is analyzed according to the vehicle driving path number. The change trend of the pressure is identified, and the pressure change of adjacent intervals is classified and processed to obtain the contact pressure change analysis result.

[0071] The principle of path segmentation is based on the vehicle GPS trajectory and driving direction. The segmentation algorithm is used to process the interval of continuous data. In each interval, the time series of contact pressure data is used for trend analysis. The moving average and change rate of pressure value are calculated to analyze the change trend of pressure data in time. At the same time, the abnormal fluctuation points in the interval are identified. For the trend of pressure change in adjacent intervals, the pressure increment is clustered and analyzed by classification processing algorithm. For example, the K-means algorithm is used to divide the increment into three categories: rising, falling and stable, so as to determine the relevance and consistency of the pressure change in adjacent intervals. Finally, the contact pressure change analysis result is obtained.

[0072] S103: Based on the contact pressure change analysis result, the difference of contact pressure change trend of each path segment is calculated, the pressure change amount of adjacent time points is compared, and the pressure gradient mutation point is identified to obtain the path gradient index data.

[0073] The gradient change amount is calculated by using the difference of pressure values of adjacent time points. The finite difference method is used to calculate the pressure change gradient of each interval. The gradient change matrix is constructed to compare the gradient changes of different intervals. The time points and geographic positions of gradient mutations are extracted. For the mutation points in the gradient change matrix, whether the change amplitude exceeds the preset threshold is confirmed by combining the pressure time sequence. When the set conditions are met, the mutation point is marked, and the path gradient index data containing path number, mutation time point, pressure change amplitude and geographic position is output.

[0074] As Figure 3As shown, based on the path gradient index data, the pressure fluctuation amplitude is calculated according to the variation trend of the contact point pressure in the path number, the difference between the track position and the fluctuation value is compared, and the surface state of the pantograph in the track section is monitored according to the track position of the fluctuation value anomaly, and the pressure fluctuation characteristic is obtained.

[0075] S201: Based on the path gradient index data, the contact point pressure data corresponding to each path number is extracted, the pressure difference between each data point is quantitatively calculated, and the pressure point difference value is statistically analyzed to obtain the pressure fluctuation amplitude data;

[0076] The path gradient index data is grouped according to the path number, the contact point pressure data in each path is arranged in time sequence, the difference value between adjacent pressure data is calculated point by point, the absolute difference of the pressure values of each two adjacent data points is calculated, and all the difference values are recorded in turn. The difference value is stored as a pressure difference value set, then the pressure difference value in the set is statistically analyzed, the analysis content includes maximum value, minimum value, average value and data distribution, at the same time, the data points with abnormally high or low values in the difference value are identified, the path number and data position corresponding to the marked points are marked, and finally the pressure fluctuation amplitude data is obtained.

[0077] S202: Based on the pressure fluctuation amplitude data, the correlation between the pressure fluctuation amplitude and the track position is analyzed, the track positions with the difference from the average fluctuation value are screened, and the fluctuation abnormal track positions are obtained.

[0078] Firstly, the pressure fluctuation amplitude data and the track position information are matched to form a corresponding data table of the track position and the pressure fluctuation amplitude, then the pressure fluctuation amplitude of the track position is counted, the pressure fluctuation amplitude of each track position is compared with the average value of the overall pressure fluctuation amplitude, the deviation value of each track position from the average fluctuation amplitude is calculated, the track positions with significant difference from the average fluctuation amplitude are screened according to the deviation value, the number and section of the track position are marked, and the track position is identified as an abnormal fluctuation point or an abnormal fluctuation interval, and finally the fluctuation abnormal track position is obtained.

[0079] S203: Based on the fluctuation abnormal track position, the surface state of the pantograph is monitored, the correlation between the pantograph surface state characteristics and the pressure fluctuation data is analyzed according to the abnormal track section, and the pressure fluctuation characteristics are obtained.

[0080] For the fluctuation abnormal trajectory position corresponding to the pantograph surface area, the surface image of the pantograph slide plate is obtained using a camera device, the data of the image is processed, the specific surface features of the pantograph slide plate are extracted, such as the area, depth, surface crack width and length of the wear area, etc., the surface features of the slide plate are analyzed one by one corresponding to the abnormal fluctuation interval in combination with the pressure fluctuation amplitude data, the correlation between the surface features and the pressure fluctuation is identified, the pantograph surface state is further classified into normal area and abnormal area, and the pressure fluctuation characteristics are summarized according to the analysis results, which are used to describe the running state of the pantograph at the abnormal trajectory position.

[0081] As shown in Figure 4 Based on the pressure fluctuation characteristics, the corresponding pantograph state, current change and pressure fluctuation amplitude data are identified, the difference value of pressure and current change is calculated, the track section of pressure and current correlation imbalance is identified, and the track distribution characteristics of fluctuation data are analyzed to obtain dynamic distribution characteristic data.

[0082] S301: Based on the pressure fluctuation characteristics, the pantograph state data and current fluctuation data are segmented and collected, the contact pressure and current fluctuation value of each data point are extracted, and the corresponding relationship between the data points is analyzed, the matching parameters between the pressure fluctuation and the current change are screened, and the pressure fluctuation matching parameters are obtained.

[0083] After the pantograph state data is divided according to the track path, it is extracted in segments, the collected data includes the contact pressure value and the corresponding current value at each time point, the pressure fluctuation data is read point by point during collection, and the current value at each time is collected synchronously, all data are arranged in time sequence and stored as time series data set, then the pressure value and current value of each two adjacent data points are respectively calculated, the corresponding relationship between the pressure fluctuation data and the current change data in time is analyzed, the matching parameters between the two are extracted, the change interval of the pressure fluctuation value and the numerical range of the current change are compared one by one, the parameter set of the relative change amplitude and change frequency is screened out, the pressure fluctuation matching parameters are obtained and the processing is completed.

[0084] S302: Based on the pressure fluctuation matching parameters, the change difference of pressure and current is calculated, the deviation section of pressure and current change is screened, and the interval of correlation imbalance between pressure and current is determined, and the imbalance section parameter set is obtained.

[0085] After segmenting the matching parameters into corresponding trajectory position intervals, difference analysis is performed on the pressure fluctuation change value and the current change value in each segment, the pressure change value and the current change value in each segment are grouped according to the absolute difference value, and the segments whose difference value range exceeds the average level are marked. The difference data of the marked segments are stored in a set, then the segments with significant deviation between pressure and current change are screened out, and the segments are analyzed in detail. The deviation data are sorted into a deviation segment set in combination with the trajectory position information, the imbalance range between pressure and current is further identified according to the deviation range and distribution, and finally the imbalance segment parameter set is obtained.

[0086] The difference between the pressure and the current is calculated by using the formula:

[0087]

[0088] The deviation segments of the pressure and the current change are screened out, the imbalance range between the pressure and the current is determined, and the imbalance segment parameter set is obtained, wherein Δ diff represents the standardized absolute value of the difference between the pressure and the current, PS t represents the pressure value at time t, I t represents the current value at time t, and N represents the number of samples.

[0089] In a monitoring process, the pressure and current readings of 4 data points are collected, and the readings are as follows:

[0090] At time t1: PS t1 = 100, I t1 = 90;

[0091] At time t2: PS t2 = 105, I t2 = 85;

[0092] At time t3: PS t3 = 98, I t3 = 95;

[0093] At time t4: PS t4 = 103, I t4 = 100;

[0094] First, the difference between the pressure and the current at each time point is calculated:

[0095] t1 difference = 100-90 = 10;

[0096] t2 difference = 105-85 = 20;

[0097] t3 difference = 98-95 = 3;

[0098] t4 difference = 103-100 = 3;

[0099] Then calculate the sum of the differences:

[0100] ∑(PS t -I t ) = 10 + 20 + 3 + 3 = 36;

[0101] The sample size N = 4.

[0102] Finally, substitute the sum into the formula to calculate Δ. diff :

[0103]

[0104] Calculated Δ diff The value is 18, which represents the absolute value of the standardized variation between pressure and current. By monitoring and analyzing this difference, it is possible to identify and determine the range of imbalance in the correlation between pressure and current, which can be used to optimize the performance of related systems or predict future maintenance needs.

[0105] S303: Based on the parameter set of the imbalance section, extract the distribution characteristics of the fluctuation data of the trajectory section, analyze the spatial distribution characteristics of pressure fluctuation and current change, and obtain dynamic distribution characteristic data;

[0106] The trajectory data of the imbalance section is segmented and classified. The pressure fluctuation data and current change data within the trajectory section are extracted, separated and stored. Then, the spatial distribution analysis of the data within each trajectory section is performed to statistically analyze the distribution range of pressure fluctuation amplitude and the density of current change amplitude within the trajectory section. By comparing the pressure and current values ​​at each trajectory location point by point, the local differences in fluctuation data within different trajectory sections are identified. Combined with the imbalance parameters of the trajectory section, the data distribution is visualized. Finally, the spatial distribution characteristics of pressure fluctuation and current change in the trajectory section are summarized.

[0107] like Figure 5 As shown, based on dynamic distribution characteristic data, the steps for analyzing pantograph contact pressure and arc fluctuation under vehicle travel path number, identifying contact points with excessive deviation, determining the correlation between pantograph and track position, and obtaining contact point deviation characteristics are as follows:

[0108] S401: Based on dynamic distribution characteristic data, analyze the pantograph contact pressure and arc fluctuation under the vehicle's driving path, evaluate the relationship between arc fluctuation amplitude and contact pressure change, identify abnormal fluctuation points, and obtain abnormal fluctuation point data.

[0109] According to the trajectory number of the dynamic distribution characteristic data, the contact pressure data and the arc fluctuation data in the trajectory section are segmented and arranged, the pressure fluctuation data in each trajectory section is analyzed one by one corresponding to the arc fluctuation amplitude, the relationship between the contact pressure change and the arc fluctuation amplitude at each time point is calculated, the change trend is matched and analyzed, the time points with high correlation between the pressure change and the arc fluctuation are screened out, and the time points are abnormally fluctuated. The detection method includes identifying the points with fluctuation amplitude exceeding the set upper and lower limits and the change rate anomaly, and obtaining the abnormal fluctuation point data.

[0110] S402: Based on the abnormal fluctuation point data, the data points with the arc fluctuation and the contact pressure fluctuation exceeding the limit are screened out, and the numerical relationship between the pressure fluctuation and the arc fluctuation is compared, the contact points with deviation exceeding the limit are identified, and the contact point characteristics exceeding the limit are obtained.

[0111] The abnormal fluctuation point data is filtered, the points with contact pressure fluctuation value and arc fluctuation value exceeding the preset threshold range are screened out, the data points exceeding the limit are stored in groups according to the trajectory number, then the numerical relationship between the contact pressure fluctuation and the arc fluctuation in the data points exceeding the limit is analyzed, the ratio relationship between the pressure fluctuation value and the arc fluctuation amplitude of each group of data points is calculated, and the contact points with significant difference between the two are further identified. The contact points are marked as deviation exceeding limit contact points, and are arranged into an exceeding limit contact point characteristic data set.

[0112] The data points with the arc fluctuation and the contact pressure fluctuation exceeding the limit are screened out, the standard deviation of the pressure fluctuation is calculated, and the formula is as follows:

[0113]

[0114] The numerical relationship between the pressure fluctuation and the arc fluctuation is compared, the contact points with deviation exceeding the limit are identified, and the contact point characteristics exceeding the limit are obtained, wherein Δp represents the standard deviation of the pressure fluctuation, P i represents the contact pressure value of the i-th data point, represents the average value of the contact pressure value, and n represents the total number of data points.

[0115] The following contact pressure data points (kPa) are given:

[0116] P = {100, 105, 98, 103, 97};

[0117] The data is obtained by actual measurement, which reflects the fluctuation of the contact pressure when the equipment is running. First, the average pressure

[0118]

[0119] The square of the difference between each data point and the average value is calculated, and then summed up:

[0120]

[0121] The above summation value is substituted into the formula to calculate the standard deviation of the pressure fluctuation:

[0122]

[0123] The results show that the standard deviation of the pressure fluctuation is 3.01 kPa, reflecting the variability of the contact point pressure. This pressure fluctuation standard deviation is used to identify the contact point deviation beyond the limit.

[0124] S403: Based on the characteristics of the contact point beyond the limit, analyze the pressure change and arc fluctuation distribution of the offset contact point in the trajectory section, calculate the position of the contact point on the path number, determine the correlation between the contact point position and the pressure distribution, and obtain the contact point offset characteristics;

[0125] According to the trajectory number, the data of the contact point beyond the limit is grouped, the pressure fluctuation value and the arc fluctuation value data of all contact points in each trajectory section are extracted, the distribution characteristics of the data points in the trajectory section are counted, the distribution density and spatial position offset of the offset contact point in the trajectory section are identified, the specific position of each contact point on the path number is calculated based on the path number of the trajectory section and the characteristics of the contact point beyond the limit, the corresponding analysis of the pressure distribution and the arc fluctuation data of the contact point is performed, and finally the correlation between the contact point position and the pressure distribution is obtained.

[0126] As shown in Figure 6 Based on the contact point offset characteristics, the pressure fluctuation and arc offset value of the contact point are analyzed, the pressure fluctuation and electrical parameter difference of the pantograph on the trajectory are compared, the trajectory associated with the fault point is identified, and the steps of obtaining the fault trajectory marking result are as follows:

[0127] S501: Based on the contact point offset characteristics, analyze the pressure fluctuation and arc offset data of the contact point in operation, arrange the data in time sequence, and determine the corresponding relationship between the pressure and the arc parameter to obtain the pressure and arc matching information;

[0128] Extract the offset characteristics of each contact point in the trajectory path, arrange the pressure fluctuation data and arc offset data of the contact point into time sequence data set in time order, and correspondingly match the contact pressure value and arc offset value point by point in the time sequence. The relationship between the pressure change value and the arc offset value at each time point is analyzed step by step, the matching points with significant corresponding relationship are selected by comparing the fluctuation amplitude and frequency of the two in numerical change, the trajectory number and time information corresponding to the matching points are marked, and finally the matching information data set of the pressure and the arc is arranged.

[0129] S502: Based on the pressure and arc matching information, the change of the pressure fluctuation value and the arc deviation value is analyzed, the amplitude range of the pressure fluctuation and the deviation value of the arc deviation are calculated, and the numerical correlation and trend change are analyzed to obtain a fluctuation deviation identification table;

[0130] The pressure fluctuation value and the arc deviation value of each data point in the matching information are divided into numerical ranges, the difference data of the two is calculated by counting the fluctuation amplitude range and the deviation value range of the data points, the data points with large pressure fluctuation amplitude and small arc deviation value, or the data points with large arc deviation value and small pressure fluctuation amplitude are identified, and the time change trend of the difference data points is analyzed. Further, all data are classified and sorted according to the change trend of the numerical correlation, and the deviation points of the pressure fluctuation and the arc deviation change are extracted, the time sequence and the track number of the deviation points are recorded, and finally a fluctuation deviation identification table is generated.

[0131] S503: Based on the fluctuation deviation identification table, the abnormal fluctuation track feature is screened, the abnormal fluctuation track position parameter and time information are marked, and a fault track marking result is obtained;

[0132] According to the deviation point data in the fluctuation deviation identification table, the deviation points of each track number are grouped and processed, the data range of the pressure fluctuation amplitude and the arc deviation value of all deviation points in the track section is extracted, and the deviation point distribution of each track section is statistically analyzed. Mark the position parameter and time information of all abnormal fluctuation points in the track section, store the track section number and time point of abnormal fluctuation as a track feature data table one by one, and finally determine the fault feature of the track combined with the abnormal points and time distribution in the track feature data table.

[0133] As shown in Figure 7 Based on the fault track marking result, the position of the fault point and the path number are adjusted, the control parameters of the pantograph lifting mechanism are adjusted, the lifting height and the contact point pressure range are set, and the operation parameters of the pantograph are re-collected. Analyze the matching degree of pantograph action and track position to obtain the steps of the track pressure dynamic optimization table:

[0134] S601: Based on the fault track marking result, the path number and track position parameter of the fault point are refined, the deviation from the existing control parameters is evaluated, and the operation range of the pantograph lifting mechanism is re-set to obtain a pantograph control parameter summary;

[0135] Extract the fault track number and corresponding time and location data in the marked result, accurately classify the path number of the fault point, refine the track location parameters according to the spatial coordinates in the track data, match each fault point in the track data with the path number, and extract the pressure fluctuation amplitude and track parameter data of the track section where the fault point is located. At the same time, call the existing control parameter data, compare the difference between the pressure fluctuation amplitude in the fault track and the control parameter range item by item, identify the specific situation of the pressure fluctuation of the fault point exceeding the control range, reset the operation range of the pantograph lifting mechanism according to the difference value, update the maximum lifting height and minimum pressure range of the lifting mechanism, store the newly set control parameters together with the track number and location parameters, and obtain the pantograph control parameter summary.

[0136] S602: Based on the pantograph control parameter summary, reacquire the pressure fluctuation data and lifting height data in the pantograph operation, group the data according to the difference time and location, and identify the fluctuation range and height change of each track section to obtain the pantograph operation state;

[0137] According to the update result of the track number and the control parameter range, start the real-time data acquisition device, record the contact pressure fluctuation value and lifting height change value of the pantograph in operation point by point, arrange the collected data into time sequence data set in time order, and group and store the data according to the track number and difference time. Statistical analysis is carried out on the pressure fluctuation amplitude and lifting height change value in each track section, including the maximum value, minimum value and average value of the fluctuation value, the fluctuation range and height change range of each track section are identified, and the statistical results are stored according to the track number and time order to generate the pantograph operation state data.

[0138] S603: Based on the pantograph operation state, analyze the matching degree between pressure fluctuation and track position, evaluate the relationship between lifting height change and pressure fluctuation, select the track key points with high matching degree, and analyze the running parameter change trend of the key points to obtain the track pressure dynamic optimization table;

[0139] Arrange the pressure fluctuation value and track position parameters in the operation state data in time sequence, compare the pressure fluctuation value and track position point by point, identify the data points with high matching degree, analyze the corresponding relationship between the pressure fluctuation value and track number of each track position, extract the corresponding relationship between the lifting height change value and the pressure fluctuation value, select the track key points with high matching degree, arrange and store the running parameter change trend of each track key point in time order, and analyze the running trend in detail. Identify the pressure fluctuation characteristics and height change law of the track key points, and generate the track pressure dynamic optimization table.

[0140] It should be understood that the term "and / or" in this document is merely used to describe associated objects, and can represent three conditions: A and / or B, which can mean that A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects, but can also represent an "and / or" relationship, which can be understood in combination with the context.

[0141] In this document, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be singular or plural.

[0142] It should be understood that the order of the above processes in various embodiments of the present application does not mean the order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0143] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0144] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described devices, apparatuses and units can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0145] In several embodiments provided by the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the above-described device embodiments are only schematic, and the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed objects can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0146] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0147] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0148] If the functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0149] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for pantograph control and condition monitoring of electrified highways, characterized in that, The method comprises: S1: based on the real-time operation state of the pantograph, collecting operation data of pantograph contact pressure, voltage, current and vehicle speed, segmenting by vehicle driving path number, calculating the change trend of contact pressure, and obtaining path gradient index data; S2: based on the path gradient index data, calculating the pressure fluctuation amplitude according to the change trend of the contact point pressure in the path number, and monitoring the pantograph surface state in the track section according to the track position of the fluctuation value anomaly to obtain the pressure fluctuation characteristics; S3: based on the pressure fluctuation characteristics, identifying the corresponding pantograph state, current change and pressure fluctuation amplitude data, calculating the difference value of pressure and current change, identifying the track section of pressure and current correlation imbalance, and analyzing the track distribution characteristics of fluctuation data to obtain dynamic distribution characteristic data; S4: based on the dynamic distribution characteristic data, analyzing the pantograph contact pressure and arc fluctuation under the vehicle driving path number, identifying the contact point offset out of limit, determining the correlation between the pantograph and the track position, and obtaining the contact point offset characteristics; S5: based on the contact point offset characteristics, analyzing the pressure fluctuation and arc offset value of the contact point, comparing the pressure fluctuation and electric parameter difference of the pantograph on the track, identifying the track associated with the fault point, and obtaining the fault track marking result; S6: based on the fault track marking result, adjusting the control parameters of the pantograph lifting mechanism, setting the lifting height and the range of contact point pressure, and re-collecting the operation parameters of the pantograph to obtain the track pressure dynamic optimization table.

2. The method of claim 1, wherein the method further comprises: The path gradient index data includes pressure change trend, mutation point, the pressure fluctuation characteristics include fluctuation amplitude, position difference comparison result, abnormal position monitoring state, the dynamic distribution characteristic data includes imbalance section identification result, track distribution analysis state, the contact point offset characteristics specifically refer to pressure distribution analysis result, arc fluctuation identification information, offset out-of-limit position, and the track pressure dynamic optimization table includes control parameter adjustment log, pantograph action analysis data and matching degree analysis result.

3. The method of control and condition monitoring of an electrified railway pantograph as claimed in claim 1, wherein, Based on the real-time operation state of the pantograph, the operation data of pantograph contact pressure, voltage, current and vehicle speed are collected, the data is segmented by vehicle driving path number, the change trend of contact pressure is calculated, and the pressure gradient mutation point is marked to obtain path gradient index data. S101: based on the real-time operation state of the pantograph, collecting operation data of pantograph contact pressure, voltage, current and vehicle speed, synchronously recording time stamp and geographic position of the data, identifying abnormal state in the data, and obtaining data collection record set; S102: based on the data collection record set, segmenting according to vehicle driving path number, analyzing the trend of contact pressure of segmented data, identifying the change trend of pressure, and classifying and processing the pressure change of adjacent intervals to obtain contact pressure change analysis result; S103: based on the contact pressure change analysis result, calculating the difference of contact pressure change trend of each path, comparing the pressure change amount of adjacent time points, and identifying the pressure gradient mutation point to obtain path gradient index data.

4. The method of claim 1, wherein the method further comprises: The steps of monitoring the surface state of the pantograph according to the abnormal trajectory position of the fluctuation value, and obtaining the pressure fluctuation characteristics are specifically: S201: Based on the path gradient index data, the contact point pressure data corresponding to each path number is extracted, the pressure difference between each data point is quantitatively calculated, and the pressure point difference value is statistically analyzed to obtain pressure fluctuation amplitude data; S202: Based on the pressure fluctuation amplitude data, the correlation between the pressure fluctuation amplitude and the trajectory position is analyzed, the trajectory positions with differences from the average fluctuation value are screened, and the abnormal fluctuation trajectory positions are obtained; S203: Based on the abnormal fluctuation trajectory position, the surface state of the pantograph is monitored, the correlation between the pantograph surface state characteristics and the pressure fluctuation data is analyzed according to the abnormal trajectory section, and the pressure fluctuation characteristics are obtained.

5. The method of control and condition monitoring of an electrified railway pantograph as claimed in claim 1, wherein, Based on the pressure fluctuation characteristics, the corresponding pantograph state, current change and pressure fluctuation amplitude data are identified, the difference value of the pressure and current change is calculated, the trajectory section with imbalance of the correlation between the pressure and current is identified, and the trajectory distribution characteristics of the fluctuation data are analyzed to obtain dynamic distribution characteristic data. The steps are specifically: S301: Based on the pressure fluctuation characteristics, the pantograph state data and current fluctuation data are segmented and collected, the contact pressure and current fluctuation value of each data point are extracted, and the corresponding relationship between the data points is analyzed. The matching parameters between the pressure fluctuation and the current change are screened to obtain the pressure fluctuation matching parameters; S302: Based on the pressure fluctuation matching parameters, the change difference of the pressure and current is calculated, the deviation section of the pressure and current change is screened, and the imbalance section between the correlation of the pressure and current is determined to obtain the imbalance section parameter set; S303: Based on the imbalance section parameter set, the distribution characteristics of the fluctuation data of the trajectory section are extracted, the spatial distribution characteristics of the pressure fluctuation and the current change are analyzed, and the dynamic distribution characteristic data is obtained.

6. The method of control and condition monitoring of an electrified railway pantograph as claimed in claim 5, wherein, The formula for calculating the change difference of the pressure and current is: Screening the deviation section of pressure and current change, determining the section of imbalance between pressure and current change, obtaining the parameter set of imbalance section, wherein, Δ diff The standardized absolute value representing the difference between pressure and current change, PS t The pressure value at t moment, I t The current value at t moment, N represents the number of samples.

7. The method of control and condition monitoring of an electrified railway pantograph as claimed in claim 1, wherein, Based on the dynamic distribution characteristic data, the pantograph contact pressure and arc fluctuation under the vehicle driving path number are analyzed, the offset contact point is identified, the correlation between the pantograph and the trajectory position is determined, and the contact point offset characteristics are obtained. The steps are specifically: S401: Based on the dynamic distribution characteristic data, the pantograph contact pressure and arc fluctuation under the vehicle driving path are analyzed, the relationship between the arc fluctuation amplitude and the contact pressure change is evaluated, the abnormal fluctuation point is identified, and the abnormal fluctuation point data is obtained; S402: Based on the abnormal fluctuation point data, the data points with the fluctuation of the arc and the fluctuation of the contact pressure exceeding the limit are screened, and the numerical relationship between the pressure fluctuation and the arc fluctuation is compared. The offset contact point is identified, and the over-limit contact point feature is obtained; S403: Based on the over-limit contact point feature, the pressure change and arc fluctuation distribution of the offset contact point in the trajectory section are analyzed, the position of the contact point on the path number is calculated, the correlation between the contact point position and the pressure distribution is determined, and the contact point offset characteristics are obtained.

8. The method of control and condition monitoring of an electrified railway pantograph as claimed in claim 7, wherein, The data points exceeding the limit of the arc fluctuation and the contact pressure fluctuation are screened, the standard deviation of the pressure fluctuation is calculated, and the formula is as follows: The numerical relationship between the pressure fluctuation and the arc fluctuation is compared, the contact point with the deviation exceeding the limit is identified, and the characteristics of the contact point exceeding the limit are obtained, wherein Δp represents the standard deviation of the pressure fluctuation, P i represents the contact pressure value of the i th data point, represents the average value of the contact pressure value, and n represents the total number of data points.

9. The method of control and condition monitoring of an electrified railway pantograph as claimed in claim 1, wherein, Based on the contact point offset characteristics, the pressure fluctuation of the contact point and the arc offset value are analyzed, the pressure fluctuation and the electrical parameter difference of the pantograph on the track are compared, the track associated with the fault point is identified, and the fault track marking result is obtained. The steps are as follows: S501: Based on the contact point offset characteristics, analyze the pressure fluctuation and arc offset data of the contact point in operation, arrange the data in time sequence, and judge the corresponding relationship between pressure and arc parameters to obtain pressure and arc matching information; S502: Based on the pressure and arc matching information, analyze the change of the pressure fluctuation value and the arc offset value, calculate the amplitude range of the pressure fluctuation and the deviation value of the arc offset, and analyze the numerical correlation and trend change to obtain the fluctuation deviation identification table; S503: Based on the fluctuation deviation identification table, screen the track characteristics of abnormal fluctuation, mark the track position parameters and time information of abnormal fluctuation, and obtain the fault track marking result.

10. The electrified highway pantograph control and condition monitoring method of claim 1, wherein, Based on the fault track marking result, adjust the pantograph lifting mechanism control parameters according to the position and path number of the fault point, set the lifting height and the range of contact point pressure, and reacquire the operation parameters of the pantograph, analyze the matching degree of pantograph action and track position, and obtain the track pressure dynamic optimization table. The steps are as follows: S601: Based on the fault track marking result, refine the path number and track position parameters of the fault point, evaluate the deviation from the existing control parameters, and re-set the operation range of the pantograph lifting mechanism to obtain the pantograph control parameter summary; S602: Based on the pantograph control parameter summary, reacquire the pressure fluctuation data and lifting height data of the pantograph in operation, group the data according to the difference time and position, and identify the fluctuation range and height change of each track segment to obtain the pantograph running state; S603: Based on the pantograph running state, analyze the matching degree between pressure fluctuation and track position, evaluate the relationship between lifting height change and pressure fluctuation, screen the key points of the track with high matching degree, and analyze the running parameter change trend of the key points to obtain the track pressure dynamic optimization table.

Images