Rail grinding car grinding drop point control method and grinding device control system

Abstract

This application discloses a method for controlling the landing point of a rail grinding vehicle and a control system for the grinding device. The method includes: pre-setting a hovering point to divide the total stroke Y into a first stroke Y1 and a second stroke Y2; and obtaining the target rail contact position P. 2目标 In P 2目标 The initial settings on one side are: preset landing point precise control start position P1, preset start falling position P0; the distance between P2 and P1 is S2, and the distance between P1 and P0 is S1; when the grinding head reaches P0, the grinding head starts Y1 and has already hovered at the preset hovering point before P1; when the grinding head of the rail grinding car reaches P1, the grinding head starts Y2 until it actually touches the rail and stops falling, obtaining the actual time T from the start of Y2 to the actual contact with the rail. 2实际 ; in P 2实际 and P 2目标 When the absolute value of the distance |ΔS| is greater than the preset error range, calculate and update S2=T. 2实际 ×V 车 This application solves the problem of low precision in grinding head descent.

Description

Technical Field

[0001] This application relates to the field of engineering vehicle technology for grinding vehicles, specifically to a method for controlling the drop point of a rail grinding vehicle and a control system for the grinding device. Background Technology

[0002] A rail grinding vehicle is an engineering vehicle used in railway construction. Its main working device is a grinding device, which is used to perform grinding and polishing operations on rails. It is a special large-scale track maintenance machine mainly used for grinding work such as rail line corrugation repair and profile restoration.

[0003] The grinding device operates on the rails, with the grinding head falling at a specific point and rising at a specific point. The area between these two points is called the working area. The grinding machine requires precise control over the grinding head's falling point during operation. After prolonged use, the grinding motor's guide column may experience changes in resistance due to dust accumulation, affecting the grinding head's falling accuracy.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of this application, and therefore may contain information that is not part of the prior art known to those skilled in the art. Summary of the Invention

[0005] This application provides a method for controlling the drop point of a rail grinding vehicle and a control system for the grinding device, in order to solve the technical problem of low drop accuracy of traditional grinding heads.

[0006] According to a first aspect of the embodiments of this application, a method for controlling the drop point of a rail grinding vehicle is provided, comprising the following steps:

[0007] Obtain the total stroke Y of the grinding head from the start of its descent until it falls onto the rail surface; wherein, the preset height position above the rail surface is used as the preset hovering point of the grinding head, and the preset hovering point divides the total stroke Y into the upper first stroke Y1 and the lower second stroke Y2;

[0008] Obtain the selected target contact position P on the rail. 2目标 At the target contact point P 2目标 The initial settings on one side are: preset landing point precise control start position P1 and preset start falling position P0; where the distance between P2 and P1 is S2 and the distance between P1 and P0 is S1.

[0009] The rail grinding vehicle begins to operate and travel. When the grinding head of the rail grinding vehicle reaches P0, the grinding head begins to fall to perform the first stroke Y1. Before P1, the grinding head has stopped falling and is hovering at the preset hovering point.

[0010] When the grinding head of the rail grinding machine reaches P1, the grinding head begins to fall for the second stroke Y2 until it actually touches the rail and stops falling to obtain the actual rail-landing position P. 2实际 Obtain the actual time T from the start of the second stroke Y2 until the grinding head actually touches the rail. 2实际 ;

[0011] In P 2实际 and P 2目标 When the absolute value of the distance between them, |ΔS|, is less than or equal to the preset error range, S2 remains unchanged;

[0012] In P 2实际 and P 2目标 When the absolute value of the distance |ΔS| is greater than the preset error range, calculate and update S2=T. 2实际 ×V 车 V is used by the rail grinding vehicle to perform the next actual grinding head descent and rail contact step. 车 This refers to the travel speed of the rail grinding vehicle.

[0013] According to a second aspect of the embodiments of this application, a grinding device control system is provided, comprising:

[0014] A controller is used to execute the control method for the falling point of the rail grinding vehicle described above.

[0015] The embodiments of this application, by adopting the above technical solutions, have the following technical effects:

[0016] In P 2实际 and P 2目标 When the absolute value of the distance |ΔS| is greater than the preset error range, calculate and update S2=T. 2实际 ×V 车 V is used by the rail grinding vehicle to perform the next actual grinding head descent and rail contact step. 车 This refers to the travel speed of the rail grinding vehicle. According to T... 2实际 For S2=T 2实际 ×V 车 Feedback adjustments are made to ensure that the grinding head falls to the rail in the next actual step of the rail grinding machine, so that the position of the grinding head landing point in the next actual step of the grinding head falling to the rail is more accurate. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 A schematic diagram of the grinding device of a rail grinding machine;

[0019] Figure 2 This is a schematic diagram illustrating the control method for the grinding drop point of the rail grinding vehicle in this application embodiment, in which the total stroke Y is divided into an upper first stroke Y1 and a lower second stroke Y2 by a preset hovering point;

[0020] Figure 3 In the method for controlling the landing point of the rail grinding vehicle in this application embodiment, the target rail contact position P is... 2目标 A diagram illustrating the initialization settings for the preset landing point, precise control of the starting position P1, and the preset starting falling position P0.

[0021] Figure 4 In the method for controlling the drop point of the rail grinding vehicle in the embodiments of this application, P 2实际 and P 2目标 A schematic diagram showing that the absolute value of the distance between them, |ΔS|, is greater than the preset error range;

[0022] Figure 5 A flowchart in chronological order showing the method for controlling the drop point of the rail grinding vehicle according to an embodiment of this application;

[0023] Figure 6 This is a schematic diagram illustrating the principle of the control system of the grinding device and its cooperation with the grinding device in an embodiment of this application.

[0024] Figure 7 The method for controlling the drop point of the rail grinding vehicle in this application embodiment uses the pressure-current curve of the downward proportional valve of the downward proportional valve.

[0025] Figure 8 This is a schematic diagram illustrating the first stage control method of the rail grinding vehicle's falling point control in an embodiment of this application, which uses a PID closed-loop control regulator.

[0026] Figure label:

[0027] Deflection telescopic mechanism 11, lateral telescopic mechanism 12, downward telescopic mechanism 13

[0028] Grinding motor 14, grinding wheel 15, steel rail 16. Detailed Implementation

[0029] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0030] To facilitate understanding of this application, the working principle and structure of the grinding device and grinding unit of the rail grinding vehicle are now described.

[0031] Each polishing unit contains 8 or 10 polishing units, all of which have identical mechanical structures, such as... Figure 1 As shown.

[0032] like Figure 1 As shown, the grinding motor 14 of the grinding unit mechanical structure is equipped with a grinding wheel 15 at the shaft end. The grinding motor 14 is mounted on the downward pressing cylinder action frame. The downward pressing telescopic mechanism 13 drives the rotating grinding motor 14 to press down, thereby realizing the contact between the grinding wheel 15 and the steel rail 16 to perform grinding operations.

[0033] The contact angle between the grinding wheel 15 and the rail 16 is adjusted by the extension and retraction of the lateral telescopic mechanism 12 and the deflection telescopic mechanism 11. The deflection angle range of the grinding unit is +70° to -35° (+ for the working side of the rail, - for the non-working side), and its lateral range is automatically adjusted according to the geometric relationship of the grinding wheel contacting the rail in the grinding motor 14. The control of lateral movement and deflection ensures that the grinding operation range of the grinding wheel 15 covers the common defect areas of the rail 16. The deflection control accuracy of the grinding unit is required to be ±0.5°, and the lateral / downward stroke accuracy is required to be ±1mm.

[0034] Example 1

[0035] A method for controlling the landing point of a rail grinding vehicle according to an embodiment of this application includes the following steps:

[0036] Step S1: Obtain the total stroke Y of the grinding head from the start of its descent until it falls onto the rail surface; wherein, the preset height position above the rail surface is used as the preset hovering point of the grinding head, and the preset hovering point divides the total stroke Y into the upper first stroke Y1 and the lower second stroke Y2;

[0037] Step S2: Obtain the selected target contact position P on the rail. 2目标 At the target contact point P 2目标 The initial settings on one side are: preset landing point precise control start position P1 and preset start falling position P0; where the distance between P2 and P1 is S2 and the distance between P1 and P0 is S1.

[0038] Step S31: The rail grinding vehicle starts to move. When the grinding head of the rail grinding vehicle reaches P0, the grinding head starts the first stroke Y1 and the grinding head has been hovering at the preset hovering point before P1.

[0039] Step S32: When the grinding head of the rail grinding machine reaches P1, the grinding head begins its second stroke Y2 until it actually touches the rail and obtains the actual rail-landing position P. 2实际 Obtain the actual time T from the start of the second stroke Y2 until the grinding head actually touches the rail. 2实际 ;

[0040] In P 2实际 and P 2目标 When the absolute value of the distance between them, |ΔS|, is less than or equal to the preset error range, S2 remains unchanged;

[0041] In P 2实际 and P 2目标 When the absolute value of the distance |ΔS| is greater than the preset error range, calculate and update S2=T. 2实际 ×V 车 V is used by the rail grinding vehicle to perform the next actual grinding head descent and rail contact step. 车 This refers to the travel speed of the rail grinding vehicle.

[0042] The method for controlling the drop point of the rail grinding vehicle in this application embodiment, such as... Figure 2 As shown, step S1 employs a segmented descent strategy for the relatively long total stroke Y, dividing it into a first stroke Y1 and a second stroke Y2. For example, if the total stroke Y is 120mm, the preset height position above the rail surface can be 20mm above the rail surface, meaning the second stroke Y2 is 20mm; the first stroke Y1 is 100mm.

[0043] Step S2 marks the key positions of the rail, with the starting point of the section on the rail that needs to be ground being used as the target rail contact position P. 2目标 Based on this, the target contact position P is determined. 2目标 Initialize settings upstream, such as... Figure 3 As shown.

[0044] Precise control of the preset landing point starts at position P1: located at P 2目标 Upstream, the spacing is S2;

[0045] Preset starting position P0: located upstream of P1, with a distance of S1.

[0046] The movement of the rail and the descent of the grinding head are carried out in parallel:

[0047] Step S31 is the process of the grinding head rapidly descending and hovering at a preset hovering point.

[0048] Step S31: The rail grinding vehicle starts to move. When the grinding head of the rail grinding vehicle reaches P0, the grinding head begins to fall to perform the first stroke Y1. Before P1, the grinding head has stopped falling and is hovering at the preset hovering point.

[0049] Step S32 is the process of precise contact and feedback adjustment of the grinding head with the rail.

[0050] Step S32: When the grinding head of the rail grinding machine reaches P1, the grinding head begins to fall for the second stroke Y2 until it actually touches the rail and stops falling to obtain the actual rail-landing position P.2实际 Obtain the actual time T from the start of the second stroke Y2 until the grinding head actually touches the rail. 2实际 ;

[0051] In P 2实际 and P 2目标 When the absolute value of the distance between them, |ΔS|, is less than or equal to the preset error range, S2 remains unchanged; that is, the actual landing position P is considered to be... 2实际 It may not be accurate to the P level. 2目标 This position, but can be approximated to P. 2目标 This location.

[0052] In P 2实际 and P 2目标 When the absolute value of the distance |ΔS| is greater than the preset error range, calculate and update S2=T. 2实际 ×V 车 V is used by the rail grinding vehicle to perform the next actual grinding head descent and rail contact step. 车 This refers to the travel speed of the rail grinding vehicle. According to T... 2实际 For S2=T 2实际 ×V 车 Feedback adjustments are made to ensure that the grinding head falls to the rail in the next actual step of the rail grinding machine, so that the position of the grinding head landing point in the next actual step of the grinding head falling to the rail is more accurate.

[0053] During implementation, in P 2实际 and P 2目标 When the absolute value of the distance between them, |ΔS|, exceeds the preset error range, such as... Figure 4 As shown, in Figure 4 In this context, P2' represents the calculation and update of S2 = T. 2实际 ×V 车 The steps include the following:

[0054] P 2实际 More than P 2目标 At that time, S2 = T 2实际 ×V 车 -|ΔS|.

[0055] The previous value of S2 was too large and needs to be reduced until S2 = T. 2实际 ×V 车 -|ΔS|.

[0056] During implementation, in P 2实际 and P 2目标 When the absolute value of the distance between them, |ΔS|, exceeds the preset error range, such as... Figure 4 As shown, in Figure 4 In this context, P2 is used to represent the calculation and update of S2 = T. 2实际 ×V 车The steps also include the following:

[0057] P 2实际 P not reached 2目标 At that time, S2 = T 2实际 ×V 车 +|ΔS|.

[0058] The previous value of S2 was too small and needs to be increased until S2 = T. 2实际 ×V 车 +|ΔS|.

[0059] During implementation, the actual contact position P is... 2实际 Obtained through a mileage sensor or speed sensor;

[0060] In P 2实际 and P 2目标 The absolute value of the distance between them, |ΔS|, is obtained through an odometer or speed sensor.

[0061] During implementation, the distance between P2 and P1 is S2, and the distance between P1 and P0 is S1, which is a fixed value. It is also ensured that the grinding head of the rail grinding vehicle is already hovering at the preset hovering point before P1.

[0062] In practice, the value of S1 ranges from 2m to 4m; the traveling speed V of the rail grinding vehicle... 车 The value range is greater than or equal to 2 km / h and less than or equal to 16 km / h.

[0063] The above values ​​ensure that the grinding head of the rail grinding vehicle is already hovering at the preset hovering point before P1.

[0064] In implementation, the process of the grinding head of the rail grinding vehicle starting its first stroke Y1 when it reaches P0 and hovering at a preset hovering point before P1 specifically includes the following steps: When the rail grinding vehicle reaches P0, the grinding head starts its first stroke Y1, executing the first stage of control:

[0065] like Figure 8 As shown, the first stage of control uses a PID closed-loop control regulator. The position PID control compares the actual position with the target position by the feedback from the pressing cylinder to obtain the error value. After PID adjustment, the output current of the pressing proportional valve of the pressing cylinder is controlled to change the pressing pressure of the grinding head, thereby realizing the control of the pressing position of the grinding head.

[0066] The downward pressing cylinder is used to drive the grinding head downward.

[0067] This first-stage control achieves precise control of the grinding head's falling position (meaning the same as grinding head pressing down), ultimately achieving an error of ±1mm between the grinding head and the preset hovering point.

[0068] During implementation, when the grinding head of the rail grinding machine reaches P1, the grinding head begins its second stroke Y2 until it actually touches the rail and obtains the actual rail-landing position P. 2实际 Obtain the actual time T from the start of the second stroke Y2 until the grinding head actually touches the rail. 2实际 The steps specifically include the following: When the rail grinding car reaches P1, the second stage of control is executed:

[0069] Based on the original PID output value, the current of the downward proportional valve of the downward pressing cylinder is superimposed according to the program scan cycle. A current value is superimposed on the original PID output value for each program scan cycle, and a final current limit is set.

[0070] If a contact signal is received, the downward pressure of the grinding head will stop;

[0071] If the current value reaches the final current limit but the grinding head still fails to touch the rail, an alarm will be triggered and the grinding head will be raised. The grinding head can then be manually operated to attempt to touch the rail again.

[0072] A current value is superimposed based on each program scan cycle, such as I. 输出电流 =I 上一次扫描周期内电流 +K×△I (I value is determined through debugging and testing, K is the angle compensation coefficient, which is generally 1 to 1.7).

[0073] Angle compensation coefficient K value explanation: According to Figure 1 As can be seen from the mechanical structure of the grinding unit, when the deflection angle is large, the grinding motor 14 tilts, and the downward pressure resistance of the guide post is also large. Therefore, after on-site debugging and testing, the compensation coefficient can be adjusted as follows according to the angle deflection range:

[0074] K = 2 - |cosθ|, where θ is the deflection angle of the grinding unit. The deflection angle of the grinding unit ranges from +70° to -35°, and the angle is calculated using the absolute value.

[0075] It's important to note that PID stands for "Proportional-Integral-Derivative Controller." It's a control loop mechanism widely used in industrial control systems to automatically correct errors in the controlled system to achieve the desired setpoint. The PID controller calculates the error between the setpoint and the actual value, then applies three independent correction actions—proportional, integral, and derivative—to adjust the control input, thereby achieving more precise control of the system.

[0076] The following describes the method for controlling the drop point of the rail grinding vehicle in chronological order, such as... Figure 5 As shown:

[0077] Step 1: Obtain the total travel Y of the grinding head from the start of its descent until it hits the rail surface, obtain the rotation angle θ of the grinding head, and obtain the selected target contact position P on the rail. 2目标 ;

[0078] Step 2: The rail grinding machine begins to move and operate, when the grinding head of the rail grinding machine reaches P0;

[0079] Step 3: Execute the first stage of control, and the grinding head hovers at the preset hovering point;

[0080] Step 4: The rail grinding machine continues to move, and the grinding head of the rail grinding machine reaches P1;

[0081] Step 5: Execute the second stage of control, and simultaneously perform angle compensation current according to the rotation angle;

[0082] Step 6: Determine if the track has actually been touched.

[0083] Given that it has already actually touched the track, and P 2实际 and P 2目标 When the absolute value of the distance between them, |ΔS|, is less than or equal to the preset error range (corresponding to...) Figure 5 If the actual landing point error is within the allowable set value, the process ends.

[0084] Given that it has already actually touched the track, and P 2实际 and P 2目标 When the absolute value of the distance |ΔS| is greater than the preset error range, calculate and update S2=T. 2实际 ×V 车 This is used for the rail grinding vehicle to perform the next actual grinding head falling and touching the rail step, and then jump to step 1;

[0085] Without contacting the rail, and when the current value after current superposition reaches the final current limit, the grinding head is raised. If the manual operation for secondary pressure is selected, the manual pressure function is executed and P is updated. 2目标 Then proceed to step 1.

[0086] Example 2

[0087] like Figure 6 As shown, the rail grinding device control system of this application embodiment includes:

[0088] (I) Control System:

[0089] 1. Controller:

[0090] As hardware in the control system, it is hardwired to the grinding device, enabling data exchange through communication, and thus realizing the control of the grinding device.

[0091] 2. System Functions:

[0092] It has functions for acquiring sensor signals from the grinding unit, controlling the grinding head pressure, and acquiring travel data.

[0093] (1) Grinding unit sensor signal acquisition: Acquire signals such as the stroke of the pressing cylinder, the deflection angle, and the current of the grinding motor inside the grinding unit;

[0094] (2) Grinding head pressing control: The controller outputs and controls the current of the pressing proportional valve to realize the grinding head falling and extending to touch the rail;

[0095] (3) Walking data acquisition: Collect the speed and mileage signals of the grinding device to locate the position of each grinding head inside the grinding device.

[0096] (II) Grinding device:

[0097] 1. Grinding unit

[0098] Each polishing unit contains multiple polishing units.

[0099] 2. Speed / Odometer Sensor

[0100] Installed on the grinding device, it is used to collect the positioning data of the grinding device.

[0101] Grinding head descent and rail contact control method:

[0102] During rail grinding operations, the descent speed of the grinding head affects the accuracy of the landing point. The grinding head descent is actuated by a downward-pressing hydraulic cylinder, combined with the pressure-current curve of the downward-pressing proportional valve (…). Figure 7 As can be seen, the current and pressure are approximately directly proportional. By controlling the current of the proportional valve of the downward pressure cylinder, the downward pressure of the grinding head can be controlled, thereby achieving control of the falling speed and position.

[0103] The grinding head pressing cylinder is equipped with a position sensor (pressing cylinder stroke sensor) to collect the pressing stroke of the cylinder. The effective stroke Y of the grinding wheel falling has been initially calibrated during the factory debugging stage of the grinding unit. In subsequent grinding operations, the change in the thickness of the grinding wheel will cause the change in the stroke feedback of the pressing cylinder. The effective contact stroke Y value will be automatically updated and recorded by the program after each grinding operation. This ensures that the effective stroke of the falling rail is known before each grinding unit performs the grinding falling action, which is beneficial to the accurate control of the subsequent grinding landing point.

[0104] Note: Each grinding device contains 20 grinding units. Each grinding unit has the same mechanical structure, so only one grinding unit has been described above. The grinding head methods of the other grinding units are the same.

[0105] This application has the following technical effects:

[0106] It achieves automatic compensation for the falling and landing accuracy of the grinding head in the grinding device, and solves the problem that when the grinding motor presses down the guide column for a long time, the resistance of the grinding pressing mechanism may change due to dust accumulation on the guide column, which may affect the falling accuracy of the grinding head.

[0107] In the description of this application and its embodiments, it should be understood that the terms "top", "bottom", "height", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0108] In this application and its embodiments, unless otherwise expressly specified and limited, the terms "set," "install," "connect," "link," "fix," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0109] In this application and its embodiments, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0110] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0111] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0112] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for controlling the drop point of a rail grinding vehicle, characterized in that, Includes the following steps: Obtain the total stroke Y of the grinding head from the start of its descent until it falls onto the rail surface; wherein, the preset height position above the rail surface is used as the preset hovering point of the grinding head, and the preset hovering point divides the total stroke Y into the upper first stroke Y1 and the lower second stroke Y2; Obtain the selected target contact position P on the rail. 2目标 At the target contact point P 2目标 The initial settings on one side are: preset landing point precise control start position P1 and preset start falling position P0; where the distance between P2 and P1 is S2 and the distance between P1 and P0 is S1. The rail grinding vehicle begins to operate and travel. When the grinding head of the rail grinding vehicle reaches P0, the grinding head begins to fall to perform the first stroke Y1. Before P1, the grinding head has stopped falling and is hovering at the preset hovering point. When the grinding head of the rail grinding machine reaches P1, the grinding head begins to fall for the second stroke Y2 until it actually touches the rail and stops falling to obtain the actual rail-landing position P. 2实际 Obtain the actual time T from the start of the second stroke Y2 until the grinding head actually touches the rail. 2实际 ; In P 2实际 and P 2目标 When the absolute value of the distance between them, |ΔS|, is less than or equal to the preset error range, S2 remains unchanged; In P 2实际 and P 2目标 When the absolute value of the distance |ΔS| is greater than the preset error range, calculate and update S2=T. 2实际 ×V 车 V is used by the rail grinding vehicle to perform the next actual grinding head descent and rail contact step. 车 This refers to the travel speed of the rail grinding vehicle.

2. The method for controlling the landing point of the rail grinding vehicle according to claim 1, characterized in that, In P 2实际 and P 2目标 When the absolute value of the distance |ΔS| exceeds the preset error range, calculate and update S2=T. 2实际 ×V 车 The steps include the following: P 2实际 More than P 2目标 At that time, S2 = T 2实际 ×V 车 -|ΔS|.

3. The method for controlling the drop point of the rail grinding vehicle according to claim 2, characterized in that, In P 2实际 and P 2目标 When the absolute value of the distance |ΔS| exceeds the preset error range, calculate and update S2=T. 2实际 ×V 车 The steps also include the following: P 2实际 P not reached 2目标 At that time, S2 = T 2实际 ×V 车 +|ΔS|.

4. The method for controlling the drop point of the rail grinding vehicle according to claim 3, characterized in that, Obtain the actual time T from the start of the second stroke Y2 until the grinding head actually touches the rail. 2实际 The steps include the following: The timing begins when the grinding head of the rail grinding machine reaches P1; The timing ends upon receiving the rail contact signal; the rail contact signal is detected by the sudden change in the current feedback of the grinding motor.

5. The method for controlling the drop point of the rail grinding vehicle according to claim 4, characterized in that, Actual contact position P 2实际 Obtained through a mileage sensor or speed sensor; In P 2实际 and P 2目标 The absolute value of the distance between them, |ΔS|, is obtained through an odometer or speed sensor.

6. The method for controlling the drop point of the rail grinding vehicle according to claim 5, characterized in that, The distance between P2 and P1 is S2, and the distance between P1 and P0 is S1, which is a fixed value, ensuring that the grinding head of the rail grinding vehicle is already hovering at the preset hovering point before P1.

7. The method for controlling the drop point of the rail grinding vehicle according to claim 6, characterized in that, The value of S1 is greater than or equal to 2m and less than or equal to 4m; the traveling speed V of the rail grinding vehicle 车 The value range is greater than or equal to 2 km / h and less than or equal to 16 km / h.

8. The method for controlling the drop point of the rail grinding vehicle according to claim 4, characterized in that, The steps for the rail grinding carriage to start its first stroke Y1 when it reaches P0 and to hover at a preset hovering point before P1 include the following steps: When the rail grinding carriage reaches P0, the grinding head starts its first stroke Y1, executing the first stage of control: The first stage of control uses a PID closed-loop control regulator. The position PID control compares the actual pressing position with the target pressing position by the feedback from the pressing cylinder to obtain the error value. After PID adjustment, the output current of the pressing proportional valve of the pressing cylinder is controlled to change the pressing pressure of the grinding head, thereby realizing the control of the pressing position. The downward pressing cylinder is used to drive the grinding head downward.

9. The method for controlling the drop point of the rail grinding vehicle according to claim 8, characterized in that, When the rail grinding machine reaches P1, the grinding head begins its second stroke Y2 until it actually touches the rail and obtains the actual rail-landing position P. 2实际 Obtain the actual time T from the start of the second stroke Y2 until the grinding head actually touches the rail. 2实际 The steps specifically include the following: When the rail grinding car reaches P1, the second stage of control is executed: Based on the original PID output value, the current of the downward proportional valve of the downward pressing cylinder is superimposed according to the program scan cycle. A current value is superimposed on the original PID output value for each program scan cycle, and a final current limit is set. If a contact signal is received, the downward pressure of the grinding head will stop; If the current value reaches the final current limit but the grinding head still fails to touch the rail, an alarm will be triggered and the grinding head will be raised. The grinding head can then be manually operated to attempt to touch the rail again.

10. A control system for a grinding device, characterized in that, include: A controller, the controller being used to execute the method for controlling the landing point of the rail grinding vehicle according to any one of claims 1 to 9.

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