Rail fastener bolt automatic tightening method and system based on looseness detection

Abstract

The application discloses a track fastener bolt automatic tightening method and system based on loosening detection, which comprises the following steps: setting a fastener bolt loosening degree detection model to calculate the loosening degree of the fastener bolt; setting a required torque estimation model, and calculating the required torque for tightening the fastener bolt according to the loosening degree of the fastener bolt and the standard torque when the fastener bolt is not loosened; setting a servo motor rotation angle estimation model, and calculating the rotation angle of the servo motor according to the initial angle of the servo motor, the required torque for tightening the fastener bolt in the last control cycle, the maximum torque that can be provided by the motor and the required torque for tightening the fastener bolt; setting an automatic tightening control signal adjustment model to calculate the control signal value of the servo motor, and when the control signal value of the servo motor exceeds a preset threshold, a signal is sent to the servo motor to make the servo motor rotate and operate the fastener bolt according to the rotation angle until the control signal value of the servo motor is less than the preset threshold.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic tightening of railway track fasteners, and more particularly to a track fastener bolt automatic tightening method and system based on loosening detection. BACKGROUND

[0002] Track fastener bolts are important fastening elements in railway track systems, mainly used to securely connect the track to the sleepers (or track bases). They play a crucial role in bearing and fixing the track in railway transportation, so their performance and safety are of great importance. Due to the influence of temperature, vibration, load, and other factors during long-term use of the railway track, the bolts may become loose, thereby affecting the stability of the track structure. Therefore, the design of an intelligent monitoring and tightening system becomes particularly important.

[0003] However, current fastener bolt tightening still relies on manual labor, which results in increased labor costs and low tightening precision. SUMMARY

[0004] To solve the above technical problems, the present application proposes a track fastener bolt automatic tightening method based on loosening detection, comprising:

[0005] Real-time monitoring of the state of the fastener bolt, obtaining information of the fastener bolt, setting a fastener bolt loosening degree detection model, and calculating the loosening degree of the fastener bolt, wherein the information includes the speed, acceleration, environmental noise, and environmental temperature of the fastener bolt;

[0006] Setting a required torque estimation model, and calculating the required torque for tightening the fastener bolt according to the loosening degree of the fastener bolt and the standard torque when the fastener bolt is not loose;

[0007] Setting a servo motor rotation angle estimation model, and calculating the rotation angle of the servo motor according to the initial angle of the servo motor, the required torque for tightening the fastener bolt in the last control cycle, the maximum torque that the motor can provide, and the required torque for tightening the fastener bolt;

[0008] Setting an automatic tightening control signal adjustment model, calculating the control signal value of the servo motor, and when the control signal value of the servo motor exceeds a preset threshold, sending a signal to the servo motor to make the servo motor rotate and manipulate the fastener bolt according to the rotation angle until the control signal value of the servo motor is less than the preset threshold.

[0009] Further, the fastener bolt loosening degree detection model comprises:

[0010]

[0011] wherein, AL(t) is the looseness of the fastener bolt at time t, V(t) is the speed of the fastener bolt at time t, a1 is the first adjustment factor of the fastener bolt looseness detection model, A(τ) is the acceleration of the fastener bolt at time τ, β1 is the second adjustment factor of the fastener bolt looseness detection model, Noise(t) is the environmental noise at time t, γ1 is the third adjustment factor of the fastener bolt looseness detection model, T env (t) is the environmental temperature at time t, and T0 is the reference temperature.

[0012] Further, the required torque estimation model comprises:

[0013]

[0014] wherein, T(t) is the required torque for tightening the fastener bolt at time t, T0 is the standard torque of the fastener bolt without looseness, a2 is the first adjustment factor of the required torque estimation model, β2 is the second adjustment factor of the required torque estimation model, β3 is the third adjustment factor of the required torque estimation model, λ2 is the fourth adjustment factor of the required torque estimation model, η1 is the fifth adjustment factor of the required torque estimation model, γ2 is the sixth adjustment factor of the required torque estimation model, and ω1 is the seventh adjustment factor of the required torque estimation model.

[0015] Further, the servo motor rotation angle estimation model comprises:

[0016]

[0017] wherein, θ(t) is the rotation angle of the servo motor at time t, θ0 is the initial angle of the servo motor, κ1 is the first adjustment factor of the servo motor rotation angle estimation model, ζ1 is the second adjustment factor of the servo motor rotation angle estimation model, T prev is the required torque for tightening the fastener bolt in the last control cycle, γ3 is the third adjustment factor of the servo motor rotation angle estimation model, κ2 is the fourth adjustment factor of the servo motor rotation angle estimation model, T max is the maximum torque that the motor can provide, λ3 is the fifth adjustment factor of the servo motor rotation angle estimation model, ω2 is the sixth adjustment factor of the servo motor rotation angle estimation model, and β4 is the seventh adjustment factor of the servo motor rotation angle estimation model.

[0018] Further, the automatic tightening control signal adjustment model comprises:

[0019]

[0020] wherein, u(t) is the control signal value of the servo motor at time t, K p is the proportional coefficient of the adaptive PID control, and Tmeasured (t) is the actual measured torque at time t, K i is the integral coefficient of the adaptive PID control, K d is the differential coefficient of the adaptive PID control, η2 is the first adjustment factor of the automatic tightening control signal adjustment model, λ4 is the second adjustment factor of the automatic tightening control signal adjustment model.

[0021] The application further provides an automatic tightening system for rail fastener bolts based on looseness detection, which comprises:

[0022] a looseness calculation module, which is used for monitoring the state of the fastener bolts in real time, acquiring information of the fastener bolts, setting a fastener bolt looseness detection model, and calculating the looseness of the fastener bolts, wherein the information comprises the speed, acceleration, environmental noise and environmental temperature of the fastener bolts;

[0023] a torque calculation module, which is used for setting a required torque estimation model and calculating the required torque for tightening the fastener bolts according to the looseness of the fastener bolts and the standard torque of the fastener bolts without looseness;

[0024] a rotation angle calculation module, which is used for setting a servo motor rotation angle estimation model and calculating the rotation angle of the servo motor according to the initial angle of the servo motor, the required torque for tightening the fastener bolts in the last control cycle, the maximum torque that can be provided by the motor and the required torque for tightening the fastener bolts;

[0025] a control module, which is used for setting an automatic tightening control signal adjustment model, calculating the control signal value of the servo motor, and sending a signal to the servo motor to make the servo motor rotate and manipulate the fastener bolts according to the rotation angle until the control signal value of the servo motor is less than a preset threshold value when the control signal value of the servo motor exceeds the preset threshold value.

[0026] Further, the fastener bolt looseness detection model comprises:

[0027]

[0028] wherein ΔL(t) is the looseness of the fastener bolts at time t, V(t) is the speed of the fastener bolts at time t, α1 is the first adjustment factor of the fastener bolt looseness detection model, A(τ) is the acceleration of the fastener bolts at time τ, β1 is the second adjustment factor of the fastener bolt looseness detection model, Noise(t) is the environmental noise at time t, γ1 is the third adjustment factor of the fastener bolt looseness detection model, T env (t) is the environmental temperature at time t, and T0 is a reference temperature.

[0029] Further, the required torque estimation model comprises:

[0030]

[0031] Wherein, T(t) is the torque required for tightening the fastener bolt at time t, T0 is the standard torque of the fastener bolt without loosening, α2 is the first adjustment factor of the required torque estimation model, β2 is the second adjustment factor of the required torque estimation model, β3 is the third adjustment factor of the required torque estimation model, λ2 is the fourth adjustment factor of the required torque estimation model, η1 is the fifth adjustment factor of the required torque estimation model, γ2 is the sixth adjustment factor of the required torque estimation model, and ω1 is the seventh adjustment factor of the required torque estimation model.

[0032] Further, the servo motor rotation angle estimation model comprises:

[0033]

[0034] Wherein, θ(t) is the rotation angle of the servo motor at time t, θ0 is the initial angle of the servo motor, κ1 is the first adjustment factor of the servo motor rotation angle estimation model, ζ1 is the second adjustment factor of the servo motor rotation angle estimation model, T prev is the torque required for tightening the fastener bolt in the last control cycle, γ3 is the third adjustment factor of the servo motor rotation angle estimation model, κ2 is the fourth adjustment factor of the servo motor rotation angle estimation model, T max is the maximum torque that the motor can provide, λ3 is the fifth adjustment factor of the servo motor rotation angle estimation model, ω2 is the sixth adjustment factor of the servo motor rotation angle estimation model, and β4 is the seventh adjustment factor of the servo motor rotation angle estimation model.

[0035] Further, the automatic tightening control signal adjustment model comprises:

[0036]

[0037] Wherein, u(t) is the control signal value of the servo motor at time t, K p is the proportional coefficient of the adaptive PID control, T measured (t) is the torque actually measured at time t, K i is the integral coefficient of the adaptive PID control, K d is the differential coefficient of the adaptive PID control, η2 is the first adjustment factor of the automatic tightening control signal adjustment model, and λ4 is the second adjustment factor of the automatic tightening control signal adjustment model.

[0038] Overall, the above technical solutions conceived by the present application have the following beneficial effects compared with the prior art:

[0039] The application can calculate the control signal value of the servo motor, and control the servo motor to rotate the fastener bolt according to the rotation angle through the control signal, and tighten the fastener bolt, so that the fastener tightening is accurately and automatically completed, the labor cost is solved, and the work efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a method flowchart of embodiment 1 of the application;

[0041] Figure 2 is a system structure diagram of embodiment 2 of the application. DETAILED DESCRIPTION

[0042] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings and specific embodiments of the specification.

[0043] The method provided by the application can be implemented in a terminal environment, which can include one or more of the following components: a processor, a storage medium and a display screen. The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the method described in the following embodiments.

[0044] The processor can include one or more processing cores. The processor connects various parts in the entire terminal through various interfaces and lines, executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0045] The storage medium can include random access memory (RAM) and read-only memory (ROM). The storage medium can be used to store instructions, programs, codes, code sets or instructions.

[0046] The display screen is used to display the user interface of each application.

[0047] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal can include more or fewer components, or combine certain components, or different component arrangements. For example, the terminal also includes radio frequency circuit, input unit, sensor, audio circuit, power supply and other components, which will not be described here.

[0048] Embodiment 1

[0049] As Figure 1As shown, the embodiment of the present application proposes a rail fastener bolt automatic tightening method based on looseness detection, comprising:

[0050] Step 101, real-time monitoring of the state of the fastener bolt, obtaining information of the fastener bolt, setting a fastener bolt looseness detection model, and calculating the looseness of the fastener bolt, wherein the information includes the speed, acceleration, environmental noise and environmental temperature of the fastener bolt;

[0051] Specifically, the fastener bolt looseness detection model includes:

[0052]

[0053] Wherein, ΔL(t) is the looseness of the fastener bolt at time t, V(t) is the speed of the fastener bolt at time t, α1 is the first adjustment factor of the fastener bolt looseness detection model, A(τ) is the acceleration of the fastener bolt at time τ, β1 is the second adjustment factor of the fastener bolt looseness detection model, Noise(t) is the environmental noise (such as vibration interference) at time t, γ1 is the third adjustment factor of the fastener bolt looseness detection model, T env (t) is the environmental temperature at time t, and T0 is the reference temperature.

[0054] Step 102, setting a required torque estimation model, and calculating the torque required for tightening the fastener bolt according to the looseness of the fastener bolt and the standard torque of the fastener bolt without looseness;

[0055] Specifically, the required torque estimation model includes:

[0056]

[0057] Wherein, T(t) is the torque required for tightening the fastener bolt at time t, T0 is the standard torque of the fastener bolt without looseness, α2 is the first adjustment factor of the required torque estimation model, β2 is the second adjustment factor of the required torque estimation model, β3 is the third adjustment factor of the required torque estimation model, λ2 is the fourth adjustment factor of the required torque estimation model, η1 is the fifth adjustment factor of the required torque estimation model, γ2 is the sixth adjustment factor of the required torque estimation model, and ω1 is the seventh adjustment factor of the required torque estimation model.

[0058] Step 103, setting a servo motor rotation angle estimation model, and calculating the rotation angle of the servo motor according to the initial angle of the servo motor, the torque required for tightening the fastener bolt in the last control cycle, the maximum torque that the motor can provide, and the torque required for tightening the fastener bolt;

[0059] Specifically, the servo motor rotation angle estimation model includes:

[0060]

[0061] Wherein, θ(t) is the rotation angle of the servo motor at time t, θ0 is the initial angle of the servo motor, κ1 is the first adjustment factor of the servo motor rotation angle estimation model, ζ1 is the second adjustment factor of the servo motor rotation angle estimation model, T prev is the torque required for tightening the fastener bolt in the last control cycle, γ3 is the third adjustment factor of the servo motor rotation angle estimation model, κ2 is the fourth adjustment factor of the servo motor rotation angle estimation model, T max is the maximum torque that the motor can provide, λ3 is the fifth adjustment factor of the servo motor rotation angle estimation model, ω2 is the sixth adjustment factor of the servo motor rotation angle estimation model, and β4 is the seventh adjustment factor of the servo motor rotation angle estimation model.

[0062] Step 104, setting an automatic tightening control signal adjustment model, calculating the control signal value of the servo motor, when the control signal value of the servo motor exceeds the preset threshold value, sending a signal to the servo motor, and making the servo motor rotate and operate the fastener bolt according to the rotation angle until the control signal value of the servo motor is less than the preset threshold value.

[0063] Specifically, the automatic tightening control signal adjustment model includes:

[0064]

[0065] Wherein, u(t) is the control signal value of the servo motor at time t, K p is the proportional coefficient of adaptive PID control, T measured (t) is the torque actually measured at time t, K i is the integral coefficient of adaptive PID control, K d is the differential coefficient of adaptive PID control, η2 is the first adjustment factor of the automatic tightening control signal adjustment model, and λ4 is the second adjustment factor of the automatic tightening control signal adjustment model.

[0066] All the adjustment factors are fitted by gradient descent method or ant colony algorithm.

[0067] Embodiment 2

[0068] As Figure 2 shown, the embodiment of the application also provides a track fastener bolt automatic tightening system based on loosening detection, which comprises:

[0069] A loosening degree calculation module is configured to monitor the state of the fastener bolt in real time, acquire information of the fastener bolt, set a fastener bolt loosening degree detection model, and calculate the loosening degree of the fastener bolt, wherein the information includes the speed, acceleration, environmental noise and environmental temperature of the fastener bolt.

[0070] Specifically, the fastener bolt loosening degree detection model comprises:

[0071]

[0072] wherein, ΔL(t) is the loosening degree of the fastener bolt at time t, V(t) is the speed of the fastener bolt at time t, α1 is the first adjustment factor of the fastener bolt loosening degree detection model, A(τ) is the acceleration of the fastener bolt at time τ, β1 is the second adjustment factor of the fastener bolt loosening degree detection model, Noise(t) is the environmental noise at time t, γ1 is the third adjustment factor of the fastener bolt loosening degree detection model, T env (t) is the environmental temperature at time t, and T0 is the reference temperature.

[0073] The torque calculation module is configured to set a required torque estimation model, and calculate the required torque for tightening the fastener bolt according to the loosening degree of the fastener bolt and the standard torque of the fastener bolt without loosening;

[0074] Specifically, the required torque estimation model comprises:

[0075]

[0076] wherein, T(t) is the required torque for tightening the fastener bolt at time t, T0 is the standard torque of the fastener bolt without loosening, α2 is the first adjustment factor of the required torque estimation model, β2 is the second adjustment factor of the required torque estimation model, β3 is the third adjustment factor of the required torque estimation model, λ2 is the fourth adjustment factor of the required torque estimation model, η1 is the fifth adjustment factor of the required torque estimation model, γ2 is the sixth adjustment factor of the required torque estimation model, and ω1 is the seventh adjustment factor of the required torque estimation model.

[0077] The rotation angle calculation module is configured to set a servo motor rotation angle estimation model, and calculate the rotation angle of the servo motor according to the initial angle of the servo motor, the required torque for tightening the fastener bolt in the last control cycle, the maximum torque that the motor can provide, and the required torque for tightening the fastener bolt;

[0078] Specifically, the servo motor rotation angle estimation model comprises:

[0079]

[0080] wherein, θ(t) is the rotation angle of the servo motor at time t, θ0 is the initial angle of the servo motor, κ1 is the first adjustment factor of the servo motor rotation angle estimation model, ζ1 is the second adjustment factor of the servo motor rotation angle estimation model, T prevThe torque required for tightening the fastener bolt in the last control cycle, γ3 is a third adjustment factor of the servo motor rotation angle estimation model, κ2 is a fourth adjustment factor of the servo motor rotation angle estimation model, T max The maximum torque that the motor can provide, λ3 is a fifth adjustment factor of the servo motor rotation angle estimation model, ω2 is a sixth adjustment factor of the servo motor rotation angle estimation model, and β4 is a seventh adjustment factor of the servo motor rotation angle estimation model.

[0081] The control module is configured to set an automatic tightening control signal adjustment model, calculate a control signal value of the servo motor, and send a signal to the servo motor to make the servo motor perform rotation control on the fastener bolt according to the rotation angle until the control signal value of the servo motor is less than the preset threshold value when the control signal value of the servo motor exceeds the preset threshold value.

[0082] Specifically, the automatic tightening control signal adjustment model comprises:

[0083]

[0084] Wherein, u(t) is the control signal value of the servo motor at time t, K p is a proportional coefficient of adaptive PID control, T measured (t) is the torque actually measured at time t, K i is an integral coefficient of adaptive PID control, K d is a differential coefficient of adaptive PID control, η2 is a first adjustment factor of the automatic tightening control signal adjustment model, and λ4 is a second adjustment factor of the automatic tightening control signal adjustment model.

[0085] All the adjustment factors are fitted by gradient descent method or ant colony algorithm.

[0086] Embodiment 3

[0087] The embodiment of the application also provides a storage medium storing a plurality of instructions for implementing the rail fastener bolt automatic tightening method based on looseness detection.

[0088] Optionally, in the embodiment, the storage medium can be located in any one of computer terminals in a computer terminal group in a computer network or in any one of mobile terminals in a mobile terminal group.

[0089] Optionally, in the embodiment, the storage medium is configured to store program code for performing the following steps: step 101, monitoring the state of the fastener bolt in real time, obtaining information of the fastener bolt, setting a fastener bolt looseness degree detection model, and calculating the looseness degree of the fastener bolt, wherein the information comprises the speed, acceleration, environmental noise and environmental temperature of the fastener bolt.

[0090] Specifically, the fastener bolt loosening degree detection model comprises:

[0091]

[0092] wherein, ΔL(t) is the loosening degree of the fastener bolt at time t, V(t) is the speed of the fastener bolt at time t, α1 is the first adjustment factor of the fastener bolt loosening degree detection model, A(τ) is the acceleration of the fastener bolt at time τ, β1 is the second adjustment factor of the fastener bolt loosening degree detection model, Noise(t) is the environmental noise at time t, γ1 is the third adjustment factor of the fastener bolt loosening degree detection model, T env (t) is the environmental temperature at time t, and T0 is the reference temperature.

[0093] Step 102, setting a required torque estimation model, and calculating the required torque for tightening the fastener bolt according to the loosening degree of the fastener bolt and the standard torque of the fastener bolt without loosening;

[0094] Specifically, the required torque estimation model comprises:

[0095]

[0096] wherein, T(t) is the required torque for tightening the fastener bolt at time t, T0 is the standard torque of the fastener bolt without loosening, α2 is the first adjustment factor of the required torque estimation model, β2 is the second adjustment factor of the required torque estimation model, β3 is the third adjustment factor of the required torque estimation model, λ2 is the fourth adjustment factor of the required torque estimation model, η1 is the fifth adjustment factor of the required torque estimation model, γ2 is the sixth adjustment factor of the required torque estimation model, and ω1 is the seventh adjustment factor of the required torque estimation model.

[0097] Step 103, setting a servo motor rotation angle estimation model, and calculating the rotation angle of the servo motor according to the initial angle of the servo motor, the required torque for tightening the fastener bolt in the last control cycle, the maximum torque that the motor can provide, and the required torque for tightening the fastener bolt;

[0098] Specifically, the servo motor rotation angle estimation model comprises:

[0099]

[0100] wherein, θ(t) is the rotation angle of the servo motor at time t, θ0 is the initial angle of the servo motor, κ1 is the first adjustment factor of the servo motor rotation angle estimation model, ζ1 is the second adjustment factor of the servo motor rotation angle estimation model, T previs the torque required for tightening the fastener bolt in the last control cycle, γ3 is a third adjustment factor of the servo motor rotation angle estimation model, κ2 is a fourth adjustment factor of the servo motor rotation angle estimation model, T max is the maximum torque that the motor can provide, λ3 is a fifth adjustment factor of the servo motor rotation angle estimation model, ω2 is a sixth adjustment factor of the servo motor rotation angle estimation model, β4 is a seventh adjustment factor of the servo motor rotation angle estimation model.

[0101] In step 104, an automatic tightening control signal adjustment model is set, and the control signal value of the servo motor is calculated. When the control signal value of the servo motor exceeds a preset threshold value, a signal is sent to the servo motor, so that the servo motor performs rotation operation on the fastener bolt according to the rotation angle, until the control signal value of the servo motor is less than the preset threshold value.

[0102] Specifically, the automatic tightening control signal adjustment model includes:

[0103]

[0104] Wherein, u(t) is the control signal value of the servo motor at time t, K p is a proportional coefficient of adaptive PID control, T measured (t) is the torque actually measured at time t, K i is an integral coefficient of adaptive PID control, K d is a differential coefficient of adaptive PID control, η2 is a first adjustment factor of the automatic tightening control signal adjustment model, λ4 is a second adjustment factor of the automatic tightening control signal adjustment model.

[0105] All the adjustment factors are fitted by gradient descent method or ant colony algorithm.

[0106] Embodiment 4

[0107] The embodiment of the application also provides an electronic device, which comprises a processor and a storage medium connected with the processor, and the storage medium stores a plurality of instructions, which can be loaded and executed by the processor, so that the processor can execute the fastener bolt automatic tightening method based on looseness detection.

[0108] Specifically, the electronic device of the embodiment can be a computer terminal, which can comprise one or more processors and a storage medium.

[0109] The storage medium can be used to store software programs and modules, such as the automatic tightening method of rail fastener bolts based on looseness detection in the embodiments of the present application, corresponding program instructions / modules, and the processor executes various functions and data processing by running the software programs and modules stored in the storage medium, that is, the automatic tightening method of rail fastener bolts based on looseness detection is realized. The storage medium can include a high-speed random storage medium, and can also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memories, or other non-volatile solid-state storage media. In some examples, the storage medium can further include storage media remotely arranged with respect to the processor, and the remote storage media can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0110] The processor can call the information and application programs stored in the storage medium through the transmission system to perform the following steps: step 101, real-time monitoring of the state of the fastener bolt, obtaining information of the fastener bolt, setting a fastener bolt looseness detection model, and calculating the looseness of the fastener bolt, wherein the information includes the speed, acceleration, environmental noise and environmental temperature of the fastener bolt;

[0111] Specifically, the fastener bolt looseness detection model includes:

[0112]

[0113] Wherein, ΔL(t) is the looseness of the fastener bolt at time t, V(t) is the speed of the fastener bolt at time t, α1 is the first adjustment factor of the fastener bolt looseness detection model, A(τ) is the acceleration of the fastener bolt at time τ, β1 is the second adjustment factor of the fastener bolt looseness detection model, Noise(t) is the environmental noise at time t, γ1 is the third adjustment factor of the fastener bolt looseness detection model, T env (t) is the environmental temperature at time t, and T0 is the reference temperature.

[0114] Step 102, setting a required torque estimation model, and calculating the torque required for tightening the fastener bolt according to the looseness of the fastener bolt and the standard torque of the fastener bolt without looseness;

[0115] Specifically, the required torque estimation model includes:

[0116]

[0117] Wherein, T(t) is the torque required for tightening the fastener bolt at time t, T0 is the standard torque of the fastener bolt without loosening, a2 is the first adjustment factor of the required torque estimation model, b2 is the second adjustment factor of the required torque estimation model, b3 is the third adjustment factor of the required torque estimation model, l2 is the fourth adjustment factor of the required torque estimation model, h1 is the fifth adjustment factor of the required torque estimation model, g2 is the sixth adjustment factor of the required torque estimation model, w1 is the seventh adjustment factor of the required torque estimation model.

[0118] Step 103, setting the servo motor rotation angle estimation model, and calculating the rotation angle of the servo motor according to the initial angle of the servo motor, the torque required for tightening the fastener bolt in the last control cycle, the maximum torque that the motor can provide and the torque required for tightening the fastener bolt.

[0119] Specifically, the servo motor rotation angle estimation model comprises:

[0120]

[0121] Wherein, q(t) is the rotation angle of the servo motor at time t, q0 is the initial angle of the servo motor, k1 is the first adjustment factor of the servo motor rotation angle estimation model, z1 is the second adjustment factor of the servo motor rotation angle estimation model, T prev is the torque required for tightening the fastener bolt in the last control cycle, g3 is the third adjustment factor of the servo motor rotation angle estimation model, k2 is the fourth adjustment factor of the servo motor rotation angle estimation model, T max is the maximum torque that the motor can provide, l3 is the fifth adjustment factor of the servo motor rotation angle estimation model, w2 is the sixth adjustment factor of the servo motor rotation angle estimation model, b4 is the seventh adjustment factor of the servo motor rotation angle estimation model.

[0122] Step 104, setting the automatic tightening control signal adjustment model, calculating the control signal value of the servo motor, when the control signal value of the servo motor exceeds the preset threshold, sending a signal to the servo motor to make the servo motor rotate and manipulate the fastener bolt according to the rotation angle until the control signal value of the servo motor is less than the preset threshold.

[0123] Specifically, the automatic tightening control signal adjustment model comprises:

[0124]

[0125] Wherein, u(t) is the control signal value of the servo motor at time t, K p is the proportional coefficient of adaptive PID control, T measured (t) is the torque actually measured at time t, K iK is an integral coefficient of the adaptive PID control d η2 is a first adjustment factor of the automatic tightening control signal adjustment model, and λ4 is a second adjustment factor of the automatic tightening control signal adjustment model.

[0126] All the adjustment factors are fitted by a gradient descent method or an ant colony algorithm.

[0127] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0128] In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0129] In the several embodiments of the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the system embodiments described above are only schematic, and the division of units is only a logical function division, and there can be another division manner in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection between units can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0130] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the present embodiment scheme.

[0131] 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. The above integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0132] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or all or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number 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 methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0133] Obviously, the above embodiments are only examples for clearly illustrating, but not limiting the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments do not need to be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A rail fastener bolt automatic tightening method based on looseness detection, characterized by, The method comprises the following steps: Real-time monitoring of the state of the fastener bolt, obtaining information of the fastener bolt, setting a fastener bolt looseness detection model, and calculating the looseness of the fastener bolt, wherein the information comprises the speed, acceleration, environmental noise and environmental temperature of the fastener bolt; Setting a required torque estimation model, and calculating the required torque for tightening the fastener bolt according to the looseness of the fastener bolt and the standard torque of the fastener bolt without looseness; Setting a servo motor rotation angle estimation model, and calculating the rotation angle of the servo motor according to the initial angle of the servo motor, the required torque for tightening the fastener bolt in the last control cycle, the maximum torque that the motor can provide and the required torque for tightening the fastener bolt; Setting an automatic tightening control signal adjustment model, and calculating the control signal value of the servo motor, and when the control signal value of the servo motor exceeds a preset threshold, sending a signal to the servo motor to make the servo motor rotate and manipulate the fastener bolt according to the rotation angle until the control signal value of the servo motor is less than the preset threshold.

2. A method of automatic tightening of track fastener bolts based on loosening detection as claimed in claim 1, wherein, The fastener bolt looseness detection model comprises: Wherein, AL(t) is the looseness of the fastener bolt at time t, V(t) is the speed of the fastener bolt at time t, a1 is the first adjustment factor of the fastener bolt looseness detection model, A(t) is the acceleration of the fastener bolt at time t, b1 is the second adjustment factor of the fastener bolt looseness detection model, Noise(t) is the environmental noise at time t, g1 is the third adjustment factor of the fastener bolt looseness detection model, T env (t) is the environmental temperature at time t, and T0 is a reference temperature.

3. A method of automatic tightening of track fastener bolts based on loosening detection as claimed in claim 2, wherein, The required torque estimation model comprises: Wherein T(t) is the required torque for tightening the fastener bolt at time t, T0 is the standard torque of the fastener bolt without looseness, α2 is the first adjustment factor of the required torque estimation model, β2 is the second adjustment factor of the required torque estimation model, β3 is the third adjustment factor of the required torque estimation model, λ2 is the fourth adjustment factor of the required torque estimation model, η1 is the fifth adjustment factor of the required torque estimation model, γ2 is the sixth adjustment factor of the required torque estimation model, and ω1 is the seventh adjustment factor of the required torque estimation model.

4. A method of automatic tightening of track fastener bolts based on loosening detection as claimed in claim 3, wherein, The servo motor rotation angle estimation model comprises: wherein θ(t) is a rotation angle of the servo motor at time t, θ0 is an initial angle of the servo motor, κ1 is a first adjustment factor of the servo motor rotation angle estimation model, ζ1 is a second adjustment factor of the servo motor rotation angle estimation model, T prev is a torque required for tightening the fastener bolt in the previous control cycle, γ3 is a third adjustment factor of the servo motor rotation angle estimation model, κ2 is a fourth adjustment factor of the servo motor rotation angle estimation model, T max is a maximum torque that the motor can provide, λ3 is a fifth adjustment factor of the servo motor rotation angle estimation model, ω2 is a sixth adjustment factor of the servo motor rotation angle estimation model, and β4 is a seventh adjustment factor of the servo motor rotation angle estimation model.

5. A method of automatic tightening of track fastener bolts based on loosening detection as claimed in claim 4, wherein, The automatic tightening control signal adjustment model comprises: Wherein, u(t) is the control signal value of the servo motor at time t, K p is the proportional coefficient of the adaptive PID control, T measured (t) is the torque actually measured at time t, K i is the integral coefficient of the adaptive PID control, K d is the differential coefficient of the adaptive PID control, η2 is the first adjustment factor of the automatic tightening control signal adjustment model, and λ4 is the second adjustment factor of the automatic tightening control signal adjustment model.

6. A rail fastener bolt automatic tightening system based on looseness detection, characterized by, The method comprises the following steps: The looseness calculation module is configured to real-time monitor the state of the fastener bolt, obtain information of the fastener bolt, set a fastener bolt looseness detection model, and calculate the looseness of the fastener bolt, wherein the information comprises the speed, acceleration, environmental noise and environmental temperature of the fastener bolt; The torque calculation module is configured to set a required torque estimation model, and calculate the required torque for tightening the fastener bolt according to the looseness of the fastener bolt and the standard torque of the fastener bolt without looseness; The rotation angle calculation module is configured to set a servo motor rotation angle estimation model, and calculate the rotation angle of the servo motor according to the initial angle of the servo motor, the required torque for tightening the fastener bolt in the last control cycle, the maximum torque that the motor can provide and the required torque for tightening the fastener bolt; The control module is configured to set an automatic tightening control signal adjustment model, and calculate the control signal value of the servo motor, and when the control signal value of the servo motor exceeds a preset threshold, send a signal to the servo motor to make the servo motor rotate and manipulate the fastener bolt according to the rotation angle until the control signal value of the servo motor is less than the preset threshold.

7. A rail fastener bolt automatic tightening system based on looseness detection as claimed in claim 6, wherein, The fastener bolt looseness detection model comprises: wherein, AL(t) is the looseness of the fastener bolt at time t, V(t) is the speed of the fastener bolt at time t, a1 is a first adjustment factor of the fastener bolt looseness detection model, A(τ) is the acceleration of the fastener bolt at time τ, β1 is a second adjustment factor of the fastener bolt looseness detection model, Noise(t) is the environmental noise at time t, γ1 is a third adjustment factor of the fastener bolt looseness detection model, T env (t) is the environmental temperature at time t, and T0 is a reference temperature.

8. A rail fastener bolt automatic tightening system based on looseness detection as claimed in claim 7, wherein, The required torque estimation model comprises: T(t) = T0*α2*β2*β3*λ2*η1*γ2*ω1 wherein T(t) is the torque required to tighten the fastener bolt at time t, T0 is the standard torque of the fastener bolt without loosening, α2 is a first adjustment factor of the required torque estimation model, β2 is a second adjustment factor of the required torque estimation model, β3 is a third adjustment factor of the required torque estimation model, λ2 is a fourth adjustment factor of the required torque estimation model, η1 is a fifth adjustment factor of the required torque estimation model, γ2 is a sixth adjustment factor of the required torque estimation model, and ω1 is a seventh adjustment factor of the required torque estimation model.

9. A rail fastener bolt automatic tightening system based on looseness detection as claimed in claim 8, wherein, The servo motor rotation angle estimation model comprises: wherein θ(t) is the rotation angle of the servo motor at time t, θ0 is the initial angle of the servo motor, κ1 is the first adjustment factor of the servo motor rotation angle estimation model, ζ1 is the second adjustment factor of the servo motor rotation angle estimation model, T prev is the torque required for tightening the fastener bolt in the last control cycle, γ3 is the third adjustment factor of the servo motor rotation angle estimation model, κ2 is the fourth adjustment factor of the servo motor rotation angle estimation model, T max is the maximum torque that the motor can provide, λ3 is the fifth adjustment factor of the servo motor rotation angle estimation model, ω2 is the sixth adjustment factor of the servo motor rotation angle estimation model, and β4 is the seventh adjustment factor of the servo motor rotation angle estimation model.

10. A rail fastener bolt automatic tightening system based on looseness detection as claimed in claim 9, wherein, The automatic tightening control signal adjustment model comprises: Wherein, u(t) is the control signal value of the servo motor at time t, K p is the proportional coefficient of the adaptive PID control, T measured (t) is the torque actually measured at time t, K i is the integral coefficient of the adaptive PID control, K d is the differential coefficient of the adaptive PID control, η2 is the first adjustment factor of the automatic tightening control signal adjustment model, and λ4 is the second adjustment factor of the automatic tightening control signal adjustment model.

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