Pantograph control system and method

Abstract

The invention discloses a pantograph control system and method, and relates to the technical field of pantograph catenary contact, the pantograph control system comprises a gas circuit, a pressure sensor, an actuator, a pressure fluctuation device and a control device, the gas circuit comprises a pantograph head gas circuit branch surrounding a pantograph head and a pantograph head support gas circuit branch surrounding a pantograph head support; the pressure fluctuation device is arranged in the pantograph head gas path branch and is used for moving in the pantograph head gas path branch when the pantograph vibrates, so that the pressure of the gas path fluctuates; the pressure sensor is connected with the pantograph head bracket gas path branch and the control device and is used for detecting the current pressure of the gas path in real time and transmitting the current pressure to the control device; the control device is connected with the actuator and is used for determining a vibration suppression signal to be transmitted to the actuator at the current moment according to the current pressure received in a preset time period before the current moment; and the actuator is in mechanical contact with the pantograph head bracket gas circuit branch and is used for adjusting the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

Description

Technical Field

[0001] The present invention relates to the technical field of pantograph-catenary contact, and particularly to a pantograph control system and method. Background Art

[0002] Electric energy is the power source for train operation, and the interaction between the pantograph and the catenary determines the power supply quality of the system. Good current collection quality can not only ensure the normal operation of the train but also effectively avoid damage caused by poor contact between the pantograph and the catenary.

[0003] With the continuous increase in train operation speed, the train vibration intensifies, and the external environment will also exacerbate the abnormality of the pantograph-catenary contact. In response to this situation, many research works on active control and semi-active control of pantographs have been carried out at home and abroad at the present stage.

[0004] Active control: The goal of active control is to suppress the fluctuation of the pantograph-catenary contact force in real time through the actuator by monitoring the pantograph state. At the present stage, the main control principle is that the control system receives the pressure data from the pantograph sensor, thereby starting the actuator to act, adjusting the magnitude of the applied force, and further adjusting the fluctuation of the pantograph-catenary contact force.

[0005] Semi-active control: The goal of semi-active control is to study the optimal pantograph structure parameters for pantograph-catenary contact performance through algorithms, and control the pantograph parameters within the range of the optimal structure parameters through relevant devices to ensure the smoothness of the pantograph-catenary contact force and improve the current collection quality.

[0006] For the above two control methods, active control requires adding electronic sensors and laying cables on the pantograph. The pantograph-catenary contact system is 27.5KV high voltage, which poses a great risk. Semi-active control is equivalent to modifying the pantograph to meet the parameter requirements. However, the railway environment is changeable, and the control effect of a large parameter range is unsatisfactory, and a small parameter range cannot cover all conditions.

[0007] This part aims to provide background or context for the embodiments of the present invention described in the claims. The description herein is not admitted to be prior art merely because it is included in this part. Summary of the Invention

[0008] In view of this, the embodiments of the present invention provide a pantograph control system and method. Drawing on the idea of building an automatic lowering air circuit for the carbon slide plate, without installing electronic sensors, real-time active control is performed by setting a pressure fluctuation device and a control device, ensuring the stability of the pantograph-catenary contact on the premise of high safety.

[0009] In a first aspect, the embodiments of the present invention provide a pantograph control system, including an air circuit, a pressure sensor, an actuator, a pressure fluctuation device, and a control device, wherein:

[0010] The air path includes an air path branch around the bow head and an air path branch around the bow head support;

[0011] The pressure fluctuation device is arranged inside the air path branch of the bow head and is used to move inside the air path branch of the bow head when the pantograph vibrates, so as to cause the pressure of the air path to fluctuate;

[0012] The pressure sensor is connected to the air path branch of the bow head support and the control device, and is used to detect the current pressure of the air path in real time and transmit the current pressure to the control device;

[0013] The control device is connected to the actuator and is used to determine the vibration suppression signal to be transmitted to the actuator at the current moment according to the current pressure received in a preset time period before the current moment;

[0014] The actuator is in mechanical contact with the air path branch of the bow head support and is used to adjust the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

[0015] In some optional ways of this embodiment, the pressure fluctuation device is arranged at the end of the air path branch of the bow head.

[0016] In some optional ways of this embodiment, the types of the vibration include descending and ascending, and the pressure fluctuation device includes an airbag and a mass block, wherein:

[0017] If the type of the vibration is the descending, the mass block deviates from the airbag, and the volume of the airbag increases;

[0018] If the type of the vibration is the ascending, the mass block approaches the airbag, and the volume of the airbag decreases;

[0019] Wherein, the current pressure of the air path is negatively correlated with the volume of the airbag.

[0020] In some optional ways of this embodiment, the control device is further used for:

[0021] Based on a pre-trained fuzzy matching model and the current pressure received in a preset time period before the current moment, determine the current vibration time history of the pantograph at the current moment;

[0022] Determine whether the current vibration time history exceeds a preset vibration time history threshold;

[0023] If so, based on the current vibration time history and the preset vibration time history threshold, determine the vibration suppression force that the actuator needs to apply to the pantograph; and based on the vibration suppression force, determine the vibration suppression signal.

[0024] In some alternative embodiments of the present embodiment, the control device is further configured to:

[0025] Determine the pressure change rate of the pressure fluctuation device according to the current pressure received during the preset time period;

[0026] Based on the pressure change rate, determine the current vibration time history of the pantograph.

[0027] In some alternative embodiments of the present embodiment, the control device is further configured to:

[0028] Based on the current vibration time history and the preset vibration time history threshold, determine the overrun of the vibration time history;

[0029] Based on the overrun of the vibration time history, determine the vibration suppression force that the actuator needs to apply to the pantograph.

[0030] In a second aspect, an embodiment of the present invention further provides a pantograph control method based on the control system described in the first aspect. The method includes:

[0031] Receive the current pressure transmitted by the pressure sensor in real time;

[0032] Determine the vibration suppression signal to be transmitted to the actuator at the current moment according to the current pressure received during a preset time period before the current moment;

[0033] Transmit the vibration suppression signal to the actuator so that the actuator adjusts the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

[0034] In a third aspect, the present invention further provides a pantograph control unit, which includes:

[0035] A pressure receiving module configured to receive the current pressure transmitted by the pressure sensor in real time;

[0036] A vibration suppression signal determination module configured to determine the vibration suppression signal to be transmitted to the actuator at the current moment according to the current pressure received during a preset time period before the current moment;

[0037] A vibration suppression signal transmission module configured to transmit the vibration suppression signal to the actuator so that the actuator adjusts the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

[0038] Fourth aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-described pantograph control method is implemented.

[0039] Fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-described pantograph control method is implemented.

[0040] Sixth aspect, an embodiment of the present invention further provides a computer program product including a computer program, and when the computer program is executed by a processor, the above-described pantograph control method is implemented.

[0041] A pantograph control system and method provided by the present application can ensure the reliability of the monitoring system by adding a gas circuit module to the original gas circuit and installing the pressure sensor, pressure monitoring, and active control host (control device) inside the vehicle; moreover, the new equipment does not require a separate circuit design, which has high economy; the monitoring uses a pure gas circuit design, which is less affected by environmental factors, has better control performance, and has high safety; and on the premise of high safety, the stability of the pantograph-catenary contact is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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 use in 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. In the drawings:

[0043] Figure 1 is one of the structural schematic diagrams of a pantograph control system in an embodiment of the present invention;

[0044] Figure 2 is the second structural schematic diagram of a pantograph control system in an embodiment of the present invention;

[0045] Figure 3 is one of the structural schematic diagrams of a pantograph control method in an embodiment of the present invention;

[0046] Figure 4 is the second structural schematic diagram of a pantograph control method in an embodiment of the present invention;

[0047] Figure 5 is the third structural schematic diagram of a pantograph control method in an embodiment of the present invention;

[0048] Figure 6 The fourth structural schematic diagram of a pantograph control method in an embodiment of the present invention;

[0049] Figure 7 The fifth structural schematic diagram of a pantograph control method in an embodiment of the present invention;

[0050] Figure 8 The first structural schematic diagram of a pantograph control unit in an embodiment of the present invention;

[0051] Figure 9 The second structural schematic diagram of a pantograph control unit in an embodiment of the present invention;

[0052] Figure 10 The entity structural schematic diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0053] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer and more understandable, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but do not limit the present invention.

[0054] The information collected in the technical solutions of this application is information and data authorized by the user or fully authorized by all parties. Moreover, the processing of relevant data, such as collection, storage, use, processing, transmission, provision, disclosure and application, complies with relevant laws, regulations and standards of relevant countries and regions, takes necessary confidentiality measures, does not violate public order and good customs, and provides corresponding operation entrances for users to choose to authorize or refuse.

[0055] The acquisition, transmission, storage, use, processing, etc. of data in the technical solutions of this application all comply with the relevant provisions of national laws and regulations.

[0056] It should be noted that in the embodiments of this application, some industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be regarded as exemplary. The purpose is only to illustrate the feasibility in the implementation of the technical solutions of this application, but it does not mean that the applicant has already or necessarily used this solution.

[0057] The principles and spirit of this specification will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only to enable those skilled in the art to better understand and then implement this specification, rather than limiting the scope of this specification in any way. On the contrary, these embodiments are provided to make the disclosure of this specification more thorough and complete, and to be able to fully convey the scope of this disclosure to those skilled in the art.

[0058] Those skilled in the art know that the embodiments of this specification can be implemented as a system, device, equipment, method, or computer program product. Therefore, the disclosure of this specification can be specifically implemented in the following forms, namely: all hardware, all software (including firmware, resident software, code, etc.), or a combination of hardware and software.

[0059] Combined with the description of the specific embodiments of the present invention and the accompanying drawings, the details of the present invention can be more clearly understood. However, the specific embodiments of the present invention described herein are only for the purpose of explaining the present invention and cannot be understood in any way as a limitation of the present invention. Under the teaching of the present invention, those skilled in the art can conceive any possible variations based on the present invention, and these should all be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the communication inside two elements. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific situations. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only embodiments.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this specification belongs. The terms used herein in this specification are only for the purpose of describing specific embodiments and are not intended to limit this specification. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0061] There are two dynamic subsystems interacting between the pantograph and the catenary. The physical working characteristics of the catenary are basically fixed, and its contact vibration characteristics depend on the vibration characteristics of the pantograph. Only with good vibration characteristics can the effective contact between the contact wire and the slider be maintained, reducing wear and contact disconnection, that is, achieving a balance between the contact force and the amplitude. For this reason, it is necessary to monitor the vibration state of the pantograph in real time. In the prior art, electronic sensors are mostly used to monitor the speed, displacement, or acceleration of the pantograph. However, it is necessary to install cables on the pantograph, and the pantograph-catenary contact system is 27.5 KV high voltage, which poses a great risk.

[0062] In view of this, an embodiment of this application proposes a pantograph control system, such as Figure 1As shown, the control system includes an air circuit, a pressure sensor, an actuator, a pressure fluctuation device, and a control device, where:

[0063] The air circuit includes a bow head air circuit branch surrounding the bow head and a bow head support air circuit branch surrounding the bow head support; the pressure fluctuation device is arranged inside the bow head air circuit branch and is used to move inside the bow head air circuit branch when the pantograph vibrates, so as to cause the pressure of the air circuit to fluctuate.

[0064] In some alternative ways of this embodiment, as Figure 2 shown, the pressure fluctuation device is arranged at the end of the bow head air circuit branch. The types of vibration include descent and ascent. The pressure fluctuation device includes an airbag and a mass block, where: if the type of vibration is the descent, the mass block deviates from the airbag and the volume of the airbag increases; if the type of vibration is the ascent, the mass block approaches the airbag and the volume of the airbag decreases; wherein, the current pressure of the air circuit is negatively correlated with the volume of the airbag.

[0065] Specifically, put the two ends of the bow head into the mass block and the airbag. The mass block should be able to slide freely inside the extension part. When the pantograph vibrates normally, the mass block can maintain a relatively stable position. However, if a large vibration occurs, when the pantograph descends violently, due to inertia, the mass block deviates from the airbag, the volume of the airbag increases, and the pressure inside the closed airbag decreases. When it rises violently, due to inertia, the mass block squeezes the airbag, the volume of the airbag decreases, and the pressure inside the closed airbag rises.

[0066] Furthermore, the pressure sensor is connected to the bow head support air circuit branch and the control device, and is used to detect the current pressure of the air circuit in real time and transmit the current pressure to the control device; the control device is connected to the actuator and is used to determine the vibration suppression signal to be transmitted to the actuator at the current moment according to the current pressure received in a preset time period before the current moment.

[0067] Specifically, the control device can be Figure 1 the pressure monitoring and active control host shown later, hereinafter simply referred to as the monitoring host. It should be noted that, as Figure 1 shown, the pressure sensor and the control device of the present application are arranged inside the pantograph carriage. Thus, the pressure sensor for monitoring the vibration state of the pantograph and the control device for actively controlling the pantograph introduced in the present application do not need to erect cables on the pantograph, effectively improving the safety during the control process of the pantograph.

[0068] Among them, if the current moment is T0 and the preset time period is 5s, the current pressure received in the preset time period before the current moment is the pressure collected by the pressure sensor within 5s. The pressure change of the airbag is monitored by the pressure sensor, and the vibration intensity of the pantograph is calculated according to the airbag pressure through the algorithm in the monitoring host. The force and displacement that the actuator needs to generate are determined through the vibration intensity in the monitoring host. According to the calculation results, the actuator is driven to exert an influence on the pantograph arm to suppress and eliminate vibrations, so as to achieve active control of the working state of the pantograph.

[0069] The control algorithm in the monitoring host adopts a combination of neural network control method and fuzzy control method. A fuzzy matching model between the airbag pressure and the vibration intensity of the pantograph is constructed by carrying the neural network. The existing response time course of the pantograph is determined through the airbag pressure value collected in real time, and combined with the time course of the actuator control signal, the current control signal is given to effectively control the vibration of the pantograph.

[0070] In some alternative ways of this embodiment, the control device is further configured to:

[0071] Based on the pre-trained fuzzy matching model and the current pressure received in the preset time period before the current moment, determine the current vibration time course of the pantograph at the current moment;

[0072] Determine whether the current vibration time course exceeds a preset vibration time course threshold;

[0073] If so, based on the current vibration time course and the preset vibration time course threshold, determine the vibration suppression force that the actuator needs to exert on the pantograph; and based on the vibration suppression force, determine the vibration suppression signal.

[0074] In this embodiment, the fuzzy matching model obtains the pressure value and the pantograph time course for a period of time through experiments and simulations, and further trains to obtain the corresponding conversion relationship between the pressure value and the pantograph time course for a period of time. In this way, based on the trained fuzzy matching model and the current pressure received in the preset time period before the current moment, the current vibration time course of the pantograph at the current moment can be determined.

[0075] Further, according to the preset vibration time course threshold set in advance, determine whether the current vibration time course exceeds the preset vibration time course threshold. Among them, the pantograph vibration time course is displacement, speed or acceleration, and this application does not limit this. The preset vibration time course threshold of the pantograph is the time course under normal fluctuations of the pantograph; taking the vibration time course as displacement as an example, the normal displacement fluctuation range of the pantograph is [-10, 10] (i.e., the preset vibration time course threshold), and the current vibration displacement is [-15, 15] (i.e., the current vibration time course). Obviously, the current vibration time course exceeds the preset vibration time course threshold.

[0076] When the current vibration time history exceeds the preset vibration time history threshold, based on the current vibration time history and the preset vibration time history threshold, determine the vibration suppression force that the actuator needs to apply to the pantograph; and based on the vibration suppression force, determine the vibration suppression signal.

[0077] In some alternative embodiments of the present embodiment, the control device is further configured to:

[0078] Determine the pressure change rate of the pressure fluctuation device according to the current pressure received during the preset time period; based on the pressure change rate, determine the current vibration time history of the pantograph.

[0079] Specifically, according to the current pressure received during the preset time period, the pressure change rate of the pressure fluctuation device can be determined. For example, the pressure change rate is determined by the ratio of the pressure change value to the time; further, based on the above fuzzy matching model combined with the pressure change rate (i.e., the conversion relationship between the pressure value for a period of time and the pantograph time history), the current vibration time history of the pantograph can be determined.

[0080] In some alternative embodiments of the present embodiment, the control device is further configured to:

[0081] Based on the current vibration time history and the preset vibration time history threshold, determine the excess amount of the vibration time history;

[0082] Based on the excess amount of the vibration time history, determine the vibration suppression force that the actuator needs to apply to the pantograph.

[0083] Specifically, the pantograph vibration time history is displacement, velocity or acceleration, and the present application does not limit this. The preset pantograph vibration time history threshold is the time history under normal fluctuations of the pantograph. Taking displacement as an example, the normal displacement fluctuation range of the pantograph is [-10, 10], the current vibration displacement is [-15, 15], and the displacement excess amount (i.e., the excess amount of the vibration time history) is 5. Then, according to the relationship between the displacement excess amount and the actuator application control determined in advance through simulation software, the vibration suppression force that the actuator needs to apply to the pantograph can be determined. That is to say, in the present embodiment, there is a corresponding relationship between the excess amount of the vibration time history and the vibration suppression force. Based on the determined excess amount of the vibration time history, the vibration suppression force that the actuator needs to apply to the pantograph can be determined.

[0084] Further, the actuator is in mechanical contact with the air circuit branch of the bow head support and is used to adjust the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

[0085] In this embodiment, there is also a corresponding relationship between the vibration suppression force and the vibration suppression signal, so that the vibration suppression signal can be determined according to the vibration suppression force. In a specific example, the vibration suppression signal is a vibration suppression current. After receiving the vibration suppression signal, the actuator can apply the corresponding vibration suppression force to the pantograph through the vibration suppression signal, thereby adjusting the current vibration state of the pantograph to a preset vibration state, wherein the preset vibration state is a normal vibration state, and the corresponding pantograph vibration time course is within the preset vibration time course threshold.

[0086] It should also be noted that the above-mentioned determination of the vibration suppression force by displacement superscalar is an example, and the vibration suppression force can also be determined according to velocity superscalar or acceleration superscalar, which will not be described in detail in this application.

[0087] The present invention adds a new type of gas sensing device to the pantograph to monitor the large vibration of the pantograph. If the pantograph vibrates greatly, it will actively intervene to keep it stable. The present invention adds a set of new gas sensing devices at both ends of the pantograph. The new gas sensing device consists of a mass block, an air bag, an air path, an actuator, a pressure sensor, a pressure monitoring and active control host (monitoring host). The mass blocks and air bags are placed at both ends of the bow head. The sensing air path is embedded in the air path of the carbon slide plate to automatically lower the bow. The bow head moves up and down to compress the pressure of the air bag to monitor the movement of the bow head, and then the actuator is used to control the vibration of the pantograph.

[0088] A pantograph control system provided in the present application can ensure the reliability of the monitoring system by adding an air circuit module to the original air circuit, and installing a pressure sensor and a pressure monitoring and active control host (control device) in the vehicle; and the newly added equipment does not require a separate line design, and has high economy; and the monitoring adopts a pure air circuit design, which is less affected by environmental factors, has good control performance, and is relatively safe; and under the premise of high safety, the stability of the pantograph-net contact is guaranteed.

[0089] The present application also provides a pantograph control method based on the control system of the above embodiment. Figure 3 As shown, the control method includes:

[0090] Step 10: receiving the current pressure transmitted by the pressure sensor in real time;

[0091] Step 20, determining a vibration suppression signal to be transmitted to the actuator at the current moment according to the current pressure received within a preset time period before the current moment;

[0092] Step 30: Transmit the vibration suppression signal to the actuator, so that the actuator adjusts the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

[0093] In some alternative embodiments of the present embodiment, such as Figure 4 shown, step 20 further includes:

[0094] Step 201, based on a pre-trained fuzzy matching model and the current pressure received in a preset time period before the current moment, determine the current vibration time history of the pantograph at the current moment;

[0095] Step 202, determine whether the current vibration time history exceeds a preset vibration time history threshold;

[0096] Step 203, if so, based on the current vibration time history and the preset vibration time history threshold, determine the vibration suppression force that the actuator needs to apply to the pantograph; and based on the vibration suppression force, determine the vibration suppression signal.

[0097] In some alternative embodiments of the present embodiment, such as Figure 5 shown, step 201 further includes:

[0098] Step 2011, according to the current pressure received in the preset time period, determine the pressure change rate of the pressure fluctuation device;

[0099] Step 2012, based on the pressure change rate, determine the current vibration time history of the pantograph.

[0100] In some alternative embodiments of the present embodiment, such as Figure 6 shown, step 203 further includes:

[0101] Step 2031, based on the current vibration time history and the preset vibration time history threshold, determine the excess amount of the vibration time history;

[0102] Step 2032, based on the excess amount of the vibration time history, determine the vibration suppression force that the actuator needs to apply to the pantograph.

[0103] It should be noted that the pantograph control method provided in this embodiment is similar to the inventive concept of the pantograph control system in the foregoing embodiment. The specific embodiments and beneficial effects corresponding to the pantograph control method can refer to the description of the pantograph control system in the foregoing, and will not be elaborated herein.

[0104] Such as Figure 7 shown, the above pantograph control method is further described:

[0105] Start by monitoring the self-check of the host system to detect whether all components of the system are working properly. If they are working properly, calibrate the pressure sensor, confirm the zero point of the pressure sensor and the pressure at the regulated voltage state, and confirm the time history of the actuator control signal in real time. Further, collect the pressure value of packet Y in real time every second. Perform a moving average on the pressure data for X seconds, and use the interpolation method to supplement missing values if there are any. Calculate the pressure change characteristic value for the period [T0-Z, T0] at time T0. Determine the fuzzy matching model between the airbag pressure change characteristic value and the pantograph vibration time history. Determine the pantograph vibration time history according to the fuzzy matching model. Combine the pantograph vibration time history at time T0 and the actuator control signal at time T0, and output the control force applied by the actuator for the actuator control signal in real time. If it cannot work properly, prompt a host failure; end.

[0106] A pantograph control method provided by the present application can ensure the reliability of the monitoring system by adding an air circuit module to the original air circuit and installing the pressure sensor, pressure monitoring and active control host (control device) in the vehicle. Moreover, the new equipment does not require a separate circuit design, which has high economy. The monitoring adopts a pure air circuit design, which is less affected by environmental factors, has better performance in control, and has high safety. And on the premise of high safety, the stability of the pantograph-catenary contact is guaranteed.

[0107] The embodiment of the present application also provides a pantograph control unit, as Figure 8 shown, including:

[0108] A pressure receiving module 40, configured to receive the current pressure transmitted by the pressure sensor in real time;

[0109] A vibration suppression signal determination module 50, configured to determine the vibration suppression signal to be transmitted to the actuator at the current moment according to the current pressure received in a preset time period before the current moment;

[0110] A vibration suppression signal transmission module 60, configured to transmit the vibration suppression signal to the actuator, so that the actuator adjusts the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

[0111] In some optional ways of this embodiment, as Figure 9 shown, the vibration suppression signal determination module includes:

[0112] A current vibration time history determination sub-module 501, configured to determine the current vibration time history of the pantograph at the current moment based on a pre-trained fuzzy matching model and the current pressure received in a preset time period before the current moment;

[0113] A judgment sub-module 502, configured to determine whether the current vibration time history exceeds a preset vibration time history threshold;

[0114] A vibration suppression signal determination sub-module 503, configured to, if so, determine the vibration suppression force that the actuator needs to apply to the pantograph based on the current vibration time history and the preset vibration time history threshold; and determine the vibration suppression signal based on the vibration suppression force.

[0115] In some alternative ways of this embodiment, the current vibration time history determination module is further configured to:

[0116] Determine the pressure change rate of the pressure fluctuation device according to the current pressure received within the preset time period; and determine the current vibration time history of the pantograph based on the pressure change rate.

[0117] In some alternative ways of this embodiment, the vibration suppression signal determination module is further configured to:

[0118] Determine the excess amount of the vibration time history based on the current vibration time history and the preset vibration time history threshold;

[0119] Determine the vibration suppression force that the actuator needs to apply to the pantograph based on the excess amount of the vibration time history.

[0120] According to the embodiments of the present application, the present application also provides an electronic device, a readable storage medium, and a computer program product.

[0121] An electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the pantograph control method of the foregoing embodiments.

[0122] A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the pantograph control method of the foregoing embodiments.

[0123] A computer program product, comprising a computer program, where the computer program implements the pantograph control method of the foregoing embodiments when executed by a processor.

[0124] Figure 10FIG. 0 shows a schematic block diagram of an exemplary electronic device 800 that may be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0125] As Figure 9 shown, the device 800 includes a computing unit 801 that may perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 may also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0126] A plurality of components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0127] The computing unit 801 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 executes the various methods and processes described above, such as the pantograph control method. For example, in some embodiments, the pantograph control method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the pantograph control method described above can be executed. Alternatively, in other embodiments, the computing unit 801 can be configured to execute the pantograph control method of the foregoing embodiments in any other suitable manner (e.g., by means of firmware).

[0128] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program code is executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0130] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0131] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0132] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0133] A computer system can include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0134] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this disclosure can be achieved, and no limitations are imposed herein.

[0135] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub - combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A pantograph control system, characterized in that, It includes an air circuit, a pressure sensor, an actuator, a pressure fluctuation device, and a control device, where: The air circuit includes an air circuit branch around the bow head and an air circuit branch around the bow head support; The pressure fluctuation device is arranged inside the air circuit branch of the bow head and is used to move inside the air circuit branch of the bow head when the pantograph vibrates, so as to cause the pressure of the air circuit to fluctuate; The pressure sensor is connected to the air circuit branch of the bow head support and the control device, and is used to detect the current pressure of the air circuit in real time and transmit the current pressure to the control device; The control device is connected to the actuator and is used to determine a vibration suppression signal to be transmitted to the actuator at the current moment according to the current pressure received in a preset time period before the current moment; The actuator is in mechanical contact with the air circuit branch of the bow head support and is used to adjust the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

2. The pantograph control system according to claim 1, wherein The pressure fluctuation device is arranged at the end of the air circuit branch of the bow head.

3. The pantograph control system according to claim 2, characterized in that, The types of the vibration include descent and ascent. The pressure fluctuation device includes an airbag and a mass block, where: If the type of the vibration is the descent, the mass block deviates from the airbag and the volume of the airbag increases; If the type of the vibration is the ascent, the mass block approaches the airbag and the volume of the airbag decreases; Wherein, the current pressure of the air circuit is negatively correlated with the volume of the airbag.

4. The pantograph control system according to claim 1, characterized in that, The control device is further used for: Based on a pre-trained fuzzy matching model and the current pressure received in a preset time period before the current moment, determining the current vibration time history of the pantograph at the current moment; Determining whether the current vibration time history exceeds a preset vibration time history threshold; If so, based on the current vibration time history and the preset vibration time history threshold, determining the vibration suppression force that the actuator needs to apply to the pantograph; and based on the vibration suppression force, determining the vibration suppression signal.

5. The pantograph control system according to claim 4, characterized in that, The control device is further used for: According to the current pressure received in the preset time period, determining the pressure change rate of the pressure fluctuation device; Based on the pressure change rate, determining the current vibration time history of the pantograph.

6. The pantograph control system according to claim 4, characterized in that, The control device is further used for: Based on the current vibration time history and the preset vibration time history threshold, determining the over-standard amount of the vibration time history; Based on the over-standard amount of the vibration time history, determining the vibration suppression force that the actuator needs to apply to the pantograph.

7. A pantograph control method based on the control system according to any one of claims 1-6, characterized in that, It includes: Receiving in real time the current pressure transmitted by the pressure sensor; Determining a vibration suppression signal to be transmitted to the actuator at the current moment according to the current pressure received in a preset time period before the current moment; Transmitting the vibration suppression signal to the actuator, so that the actuator adjusts the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

8. A pantograph control unit, characterized in that, It includes A pressure receiving module configured to receive in real time the current pressure transmitted by the pressure sensor; A vibration suppression signal determination module, configured to determine a vibration suppression signal to be transmitted to an actuator at the current moment according to the current pressure received in a preset time period before the current moment; A vibration suppression signal transmission module, configured to transmit the vibration suppression signal to the actuator, so that the actuator adjusts the current vibration state of the pantograph to a preset vibration state according to the vibration suppression signal.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the pantograph control method described in claim 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the pantograph control method described in claim 7.

11. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the pantograph control method described in claim 7.

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