Subway vehicle-mounted platform clearance compensation pedal and electric control system thereof

Abstract

The invention belongs to the technical field of metro pedals, and provides a metro vehicle-mounted platform clearance compensation pedal and an electric control system thereof. The metro vehicle-mounted platform clearance compensation pedal comprises a plurality of base plates and extension plates which are evenly distributed in the horizontal direction; two guide rails are symmetrically arranged on each base plate, two sliding grooves are symmetrically formed in each extension plate, and the two guide rails are slidably connected into the two sliding grooves respectively; the base plates are covered with a cover plate, a plurality of threaded holes are symmetrically formed in the side edges of the cover plate, inserting grooves are formed in the top of the cover plate, and the multiple inserting grooves are evenly distributed in the horizontal direction; the extension plate is driven to automatically extend and retract through the electric push rod of the push assembly and the connecting component, the gap between the subway door and the platform is effectively compensated, passengers can conveniently get on and off the subway, and the passengers carrying luggage, pushing baby carriages or having difficulty in moving are not easily stumbled by the gap and prevented from falling down and being injured; and feet of passengers or luggage are prevented from being clamped between the bus door and the platform, and the phenomenon that the luggage is clamped or damaged is avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of subway pedal, specifically a subway vehicle-mounted platform gap compensation pedal and its electric control system. BACKGROUND

[0002] The subway is an electric train system that runs on underground or elevated tracks, usually composed of multiple carriages, running on dedicated tracks. The main purpose of the subway is to provide fast, efficient and convenient public transportation services for urban residents, especially in densely populated and high-traffic urban center areas.

[0003] However, during the operation of the subway, there is a certain gap between the subway door and the platform. When passengers get on and off the train, especially those carrying luggage, pushing strollers or having difficulty walking, they are easy to trip over the gap and fall down, and if the gap is too large, the passenger's foot or luggage may be pinched between the door and the platform, causing injury or damage to the luggage, making it inconvenient for passengers to get on and off the train.

[0004] Therefore, the technical personnel in the art proposes a subway vehicle-mounted platform gap compensation pedal and its electric control system to solve the problems raised in the background art.

[0005] The above information disclosed in the background art is only used to increase the understanding of the background art of the present application, and therefore, it can include prior art known to those skilled in the art. SUMMARY

[0006] In order to solve the above technical problems, the present application provides a subway vehicle-mounted platform gap compensation pedal and its electric control system to solve the problem that there is a certain gap between the subway door and the platform in the prior art, which may trip passengers, pinch feet and damage luggage.

[0007] To achieve the above purpose, the present application provides a subway vehicle-mounted platform gap compensation pedal, comprising a plurality of base plates and extension plates uniformly distributed in the horizontal direction;

[0008] Two guide rails are symmetrically arranged on each base plate, and two sliding grooves are symmetrically arranged on each extension plate, two guide rails are respectively connected in two sliding grooves;

[0009] A plurality of base plates are covered with a cover plate, a plurality of threaded holes are symmetrically arranged on the side edge of the cover plate, an insertion slot is arranged on the top of the cover plate, and a plurality of horizontal uniform distribution are arranged in the insertion slot, and a pushing assembly is arranged on each base plate;

[0010] The pushing assembly comprises a slot formed on the extension plate, the base plate is fixedly connected with an electric push rod, a connecting member is arranged on the output end of the electric push rod, the output end of the connecting member is connected with the extension plate, and the electric push rod drives the extension plate to slide along the two guide rails through the connecting member, and the pushing assembly is arranged in the slot.

[0011] Preferably, the connecting member comprises a connecting buckle fixedly connected on the output end of the electric push rod, a bolt hole is formed on the connecting buckle, and a bolt is arranged on the extension plate, and the end of the bolt is threadedly connected in the bolt hole.

[0012] Preferably, a pulling back assembly is arranged between each base plate and the extension plate, the pulling back assembly comprises a rotating seat rotatably connected on the base plate, a hexagonal socket is formed on the top of the rotating seat, a steel wire rope is wound on the rotating seat, and a baffle is fixedly connected on the rotating seat.

[0013] Preferably, the hexagonal socket is in communication with the slot, the two ends of the steel wire rope are fixedly connected on the rotating seat and the extension plate respectively, the baffle is fixedly connected on the rotating seat and rotates on the base plate.

[0014] An electric control system of a subway on-board platform gap compensation pedal, comprising:

[0015] A main controller adopts an industrial MCU;

[0016] A signal acquisition module is electrically connected with the main controller, comprising a bus interface module for accessing a train control network and a laser ranging sensor for measuring a platform gap;

[0017] A drive control module is electrically connected with the main controller, comprising a servo driver for driving an electric push rod (42);

[0018] A monitoring module is electrically connected with the main controller, comprising a current and temperature sensor for collecting the working current and temperature of the electric push rod, and a retraction to position sensor and an extension to position sensor for detecting the position of the extension plate;

[0019] The main controller is configured to perform the following operations:

[0020] After the system is powered on, the monitoring module performs a safety self-check to verify whether the static current of each drive circuit is less than a safety threshold and all the extension plates are in a retracted to position state;

[0021] After obtaining the train stopping and door opening signals through the bus interface module, the laser ranging sensor group is activated to collect multiple gap measurement values;

[0022] The data fusion processing based on the Lyapunov criterion is performed on the plurality of gap measurement values, the arithmetic mean and the standard deviation are calculated, the invalid measurement values deviating from the mean value by more than three times the standard deviation are removed, and a fused gap value is obtained;

[0023] The fused gap value is compared with a pre-stored standard gap value, and a control instruction is generated by an adaptive PID control algorithm with speed feedforward, wherein the PID parameters are dynamically adjusted according to the real-time deviation size;

[0024] The extension action is driven by the driving control module to drive the servo electric push rod, and a closed-loop position control is formed by real-time feedback of the encoder;

[0025] During the action process, overload diagnosis and stall diagnosis are performed in real time by the monitoring module, and the action is immediately stopped and an alarm is triggered when a fault is detected;

[0026] After receiving the vehicle door closing signal, the extension plate is retracted, and the operation data is uploaded to the operation and maintenance system through the data interface.

[0027] Preferably, in the data fusion processing, the calculation formula of the fused gap value D is: Where dj is the valid measurement value, N is the number of valid values, and the selection criteria for the valid measurement value is Where is the arithmetic mean of the original measurement value, and σ is the standard deviation.

[0028] Preferably, the control law of the adaptive PID control algorithm is: Where e(t) is the real-time gap deviation, K p (e), K i (e), K d (e) is a parameter dynamically adjusted according to the size of |e(t)|, K f is the feedforward coefficient, V cmd is the instruction speed.

[0029] Preferably, the determination condition of the overload diagnosis is that the working current I work > I set and the duration t > t set , and the determination condition of the stall diagnosis is that the motor speed n ≈ 0 is detected within Δt time after the control instruction is issued, and I work > I set .

[0030] Preferably, it further includes a predictive maintenance function, by recording and analyzing historical peak current data, when the average of the peak current of a plurality of consecutive operation cycles is monotonically increasing and the increase amplitude exceeds the set threshold, a maintenance warning signal is generated.

[0031] Preferably, the system further comprises an emergency processing mechanism, when the pushing assembly fails, the emergency operation guide is displayed through the man-machine interaction module, and the extension plate is manually driven to be retracted through the mechanical interface.

[0032] Compared with the prior art, the application has the following beneficial effects:

[0033] 1、The electric push rod of the pushing assembly drives the extension plate to automatically extend and retract through the connecting member, effectively compensating the gap between the subway door and the platform, facilitating passengers to get on and off the vehicle, preventing passengers carrying luggage, pushing a baby carriage or having difficulty in moving from being tripped by the gap, preventing falling and injury, and preventing the feet or luggage of passengers from being clamped between the door and the platform, avoiding the phenomenon of clamping injury or damaging luggage.

[0034] 2、The retraction assembly is provided, when the pushing assembly fails, the retraction assembly can drive the rotating seat to rotate by inserting the rocker into the hexagonal socket, and the extension plate is retracted through the steel wire rope, ensuring the safety and reliability of the device.

[0035] 3、The application realizes accurate and intelligent compensation of the platform gap through multi-sensor data fusion and adaptive control algorithm, the system can dynamically correct measurement error, eliminate single-point failure risk, ensure accurate matching of the extension length and the actual gap, introduce closed-loop control with speed feedforward, make the extension plate move smoothly and stably without impact, the built-in online diagnosis and predictive maintenance function can monitor the system state in real time, early warning potential failure, greatly improving the operation reliability and maintenance efficiency, effectively avoiding safety hazards such as passenger tripping and article clamping, and significantly improving the safety and intelligent level of subway operation.

[0036] The above summary is only for the purpose of the description and is not intended to limit in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features will be readily apparent to those skilled in the art by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is a whole structure schematic view of a subway vehicle-mounted platform gap compensation pedal in an embodiment of the application.

[0038] Figure 2 It is a structure exploded view of a subway vehicle-mounted platform gap compensation pedal in an embodiment of the application.

[0039] Figure 3 It is an exploded view of part of the structure of a subway vehicle-mounted platform gap compensation pedal in an embodiment of the application.

[0040] Figure 4A top view of a subway vehicle-mounted platform gap compensation pedal pullback assembly according to an embodiment of the present application;

[0041] Figure 5 A structural schematic view of a subway vehicle-mounted platform gap compensation pedal pullback assembly according to an embodiment of the present application;

[0042] Figure 6 A working principle diagram of a subway vehicle-mounted platform gap compensation pedal electric control system according to an embodiment of the present application.

[0043] In the figure: 1, base plate; 11, guide rail; 2, extension plate; 21, sliding groove; 3, cover plate; 31, threaded hole; 32, insertion slot; 4, push assembly; 41, notch; 42, electric push rod; 43, connecting member; 431, connecting buckle; 432, bolt hole; 433, bolt; 5, pullback assembly; 51, rotating seat; 52, hexagonal socket; 53, steel wire rope; 54, baffle. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. It should be pointed out that the drawings are schematic and not drawn to scale. For the clarity and convenience in the drawings, the relative sizes and proportions of the parts shown in the drawings are exaggerated or reduced for illustration, and any size is only exemplary, but not limiting.

[0045] Embodiment one:

[0046] Please refer to Figure 1 - Figure 5 As shown in the figure, a subway vehicle-mounted platform gap compensation pedal includes a plurality of base plates 1 and extension plates 2 which are uniformly distributed in the horizontal direction;

[0047] Two guide rails 11 are symmetrically arranged on each base plate 1, and two sliding grooves 21 are symmetrically formed on each extension plate 2, and the two guide rails 11 are respectively slidingly connected in the two sliding grooves 21;

[0048] A cover plate 3 is arranged on the plurality of base plates 1, a plurality of threaded holes 31 are symmetrically formed in the side edges of the cover plate 3, an insertion slot 32 is formed in the top of the cover plate 3, and the insertion slot 32 is provided with a plurality of horizontal uniform distribution, and a push assembly 4 is arranged on each base plate 1;

[0049] The substrate 1 is the basic support structure of the whole device, used for mounting and fixing other components, the guide rail 11 cooperates with the sliding groove 21 on the extension plate 2 to play a guiding role, so that the extension plate 2 can smoothly slide along the predetermined track, avoiding deviation or jam during movement, the extension plate 2 is the part directly contacting the gap between the subway door and the platform, and at least two sliding grooves 21 are symmetrically arranged on the extension plate 2, which cooperate with the guide rail 11 on the substrate 1 to realize the sliding function of the extension plate 2, the movement of the extension plate 2 is controlled by the pushing assembly 4, which is used to compensate the gap between the subway door and the platform, the cover plate 3 plays a role in protecting and fixing the internal structure, and a plurality of threaded holes 31 are arranged on the side edge of the cover plate 3, which are used for connecting and fixing with the external structure, the cover plate 3 and the external structure are connected and fixed by the bolts 433, so as to ensure the stability of the whole device, a plurality of insertion grooves 32 are arranged on the top of the cover plate 3, which are used for inserting the rocker to drive the pulling-back assembly 5 to work, the pushing assembly 4 is the power source for the movement of the extension plate 2, which is used to push or pull the extension plate 2 to realize the extension and retraction of the extension plate 2.

[0050] The pushing assembly 4 includes a slot 41 arranged on the extension plate 2, an electric push rod 42 fixedly connected to the substrate 1, a connecting member 43 arranged on the output end of the electric push rod 42, and the output end of the connecting member 43 connected to the extension plate 2, and the electric push rod 42 drives the extension plate 2 to slide along the two guide rails 11 through the connecting member 43, the pushing assembly 4 is arranged in the slot 41 arranged on the extension plate 2, which is used to accommodate the electric push rod 42 and the connecting member 43 in the pushing assembly 4, so as to ensure the normal work of the pushing assembly 4, and the extension and retraction of the extension plate 2 are realized by the extension and retraction action of the electric push rod 42, and the connecting member 43 is used to connect the output end of the electric push rod 42 to the extension plate 2, so as to ensure that the electric push rod 42 can effectively drive the extension plate 2 to move.

[0051] Specifically, the connecting member 43 includes a connecting buckle 431 fixedly connected to the output end of the electric push rod 42, a bolt hole 432 arranged on the connecting buckle 431, a bolt 433 arranged on the extension plate 2, and the end of the bolt 433 threadedly connected to the bolt hole 432, the connecting buckle 431 is used to connect the extension plate 2 to the electric push rod 42 through the bolt 433, so as to fix the extension plate 2 and the output end of the electric push rod 42 together, the bolt hole 432 is used to connect the extension plate 2 to the connecting buckle 431 through the bolt 433, the bolt 433 is used to connect the extension plate 2 to the connecting buckle 431 through the bolt hole 432, so as to fix the extension plate 2 and the output end of the electric push rod 42 together, and the electric push rod 42 can effectively drive the extension plate 2 to move.

[0052] From the above, the entire device is installed at the subway station door opening, through the threaded hole 31 with the cover plate 3 and subway car body connection and fixed, when the subway door is opened, the electric push rod 42 receives control signal after extension, through the connecting member 43 push extension plate 2 along the guide rail 11 and chute 21, compensate for the gap between the subway door and the platform, when the subway door is closed, the electric push rod 42 reverse extension, through the connecting member 43 pull extension plate 2 back, restore to the initial position, through the push assembly 4 electric push rod 42, through the connecting member 43 drive extension plate 2 automatically extend and retract, effectively compensate for the gap between the subway door and the platform, convenient for passengers, make carrying luggage, push baby stroller or passengers with difficulty, not easy to be gap tripped, prevent falling and injury, and prevent the passenger's foot or luggage is clamped between the door and the platform, avoid the phenomenon of clamping injury or damage to the luggage.

[0053] Example two:

[0054] Please refer to Figure 4 -5 figure, this embodiment and the previous embodiment is basically the same, the difference is that each base plate 1 and extension plate 2 between the set back assembly 5, pull back assembly 5 includes rotating seat 51 rotatingly connected on the base plate 1 bottom plate, rotating seat 51 top hexagonal socket 52, rotating seat 51 on the winding of steel wire rope 53, rotating seat 51 on the fixed connection with the baffle 54, pull back assembly 5 is when the push assembly 4 failure, for manual retraction of extension plate 2 emergency device, rotating seat 51 rotation by steel wire rope 53 pull extension plate 2 back, hexagonal socket 52 for inserting the rocker to drive rotating seat 51 rotation, steel wire rope 53 for pulling back extension plate 2, baffle 54 for the protection of steel wire rope 53, and for limiting the rotation angle of rotating seat 51, ensure that the pull back assembly 5 can work normally.

[0055] Further, the hexagonal socket 52 and the slot 32 are connected, to ensure that the rocker can be inserted smoothly and drive rotating seat 51 rotation, both ends of the steel wire rope 53 are fixedly connected to the rotating seat 51 and the extension plate 2, when the rotating seat 51 rotates, the steel wire rope 53 is pulled, thereby driving the extension plate 2 back, the baffle 54 is fixedly connected with the rotating seat 51, and rotates on the base plate 1.

[0056] From the above, when the push assembly 4 failure, the electric push rod 42 cannot work normally, need to manually retract the extension plate 2, the rocker is inserted into the slot 32 on the top of the cover plate 3, the hexagonal end of the rocker is inserted into the hexagonal socket 52 on the top of the rotating seat 51, by rotating the rocker, drive rotating seat 51 rotation, steel wire rope 53 is pulled, thereby driving the extension plate 2 along the guide rail 11 and chute 21 back, restore to the initial position, to ensure the safety and reliability of the device.

[0057] Example three:

[0058] Referring to Figure 6 An electric control system of a subway vehicle-mounted platform gap compensation pedal is shown:

[0059] System power-on and safety self-check: when the electric control system is connected to the DC 110V power supply on the subway vehicle, the power module converts it into DC 24V and DC 48V, and after the main controller (specifically, an industrial-grade multi-core MCU such as the STM32H743 series) is started, it first executes a safety self-check program. This program reads the static current I static of each servo driver loop through the current and temperature sensors in the monitoring module, compares it with the preset safety threshold I safe (eg. I safe +0.1A) stored in the MCU, and at the same time, checks whether all extension plates 2 are in the strict "retracted home" state through photoelectric sensors. The self-check logic is as follows: if all I static <I safe and all extension plates 2 are retracted, the system status light shows green and enters standby state, and if any condition is not met, the main controller immediately locks the system through the LCD touch screen of the human-machine interaction module and displays the specific fault code (such as "F101: 2nd drive unit self-check failed");

[0060] Multi-sensor signal acquisition and data fusion: after the self-check is passed, the system continuously monitors the bus interface module (deterministically configured as an MVB bus interface), and as soon as it captures the "train stopping" and "door opening" hard-wired signals, the main controller immediately activates the laser ranging sensor group (3 sensors are arranged equidistantly along the door). Each sensor measures a gap raw value d i (i = 1, 2, 3), and the main controller then executes a weighted fusion algorithm based on the Lyapunov criterion (3σ criterion) to eliminate single-point sensor failure or transient interference. The specific fusion steps are as follows: first, calculate the arithmetic mean of the three measured values and the sample standard deviation Then, perform validity judgment: if a measured value d i satisfies , it is determined to be a gross error and is rejected. Finally, the remaining valid measured values are used to calculate the final fusion gap value used for control where dj is the valid measured value and N is the number of valid values. This scheme ensures the reliability of the gap data.

[0061] Adaptive PID and feedforward compound control execution: the main controller compares the fused real-time gap value D with the pre-stored standard gap value D std of the platform, and obtains the deviation e(t) = D-D std, the system adopts an adaptive PID control algorithm with speed feedforward to ensure the extension plate 2 moves quickly and smoothly without impact, and its control law is accurately given by the following formula: In this control law: K p (e), K i (e), K d (e) is an adaptive parameter dynamically adjusted according to the real-time deviation |e(t)|, specifically, when |e(t)| is large, K p is increased to accelerate the response, when |e(t)| is reduced, K p is reduced and K i is increased to eliminate the static error and improve the stopping accuracy, K f ·V cmd is a speed feedforward term used to compensate the mechanical inertia of the system in advance, reduce the tracking lag, the main controller sends the calculated control quantity U(t) to the servo driver, which drives the servo electric push rod 42 with encoder to extend, the encoder real-time feedback L actual of the electric push rod 42 is fed back to the main controller to form a closed-loop control until L actual reaches the target position; actual ;

[0062] Online fault diagnosis and predictive maintenance: during the extension plate 2 movement and holding, the monitoring module works continuously, and its fault diagnosis is based on multi-parameter fusion:

[0063] Overload diagnosis: real-time monitoring of the electric push rod 42 working current I work , if the condition I work >I set (I set is the overcurrent threshold, such as 1.5 times the rated current) and the duration t>I set (500ms) is met, it is determined as overload, and the extension plate 2 is immediately stopped and automatically retracted;

[0064] Stall diagnosis: the motor speed n is calculated through the encoder feedback, if n≈0 and I work >I set is detected within Δt time (100ms) after the control instruction U(t) is issued, it is determined as stall, and the stop and alarm process is immediately executed;

[0065] Trend prediction: the system records the peak current I p eak of each action, through the analysis of the historical data of I p eak, if the system detects that its mean value is monotonically increasing within 10 consecutive operation cycles and the increase is more than 10%, even if the alarm is not triggered, a "maintenance warning" will be generated on the human-machine interaction interface, prompting to lubricate the guide rail and sliding slot, which realizes the leap from "after-service repair" to "predictive maintenance".

[0066] Safe recovery and state reporting: when the subway door closing signal is issued, the main controller controls all extension plates 2 to be retracted synchronously, and the retracted position is confirmed by the photoelectric sensor. The key improvement is that if the push assembly 4 fails, the system will immediately display the prompt "drive failure, please use the emergency rocker" on the touch screen. Maintenance personnel can use a hexagonal rocker to manually drive the rotating seat 51 of the pullback assembly 5 through the slot 32 of the cover plate 3, and force the extension plate 2 to retract through the steel wire rope 53. The operation data (such as maximum gap, action time, fault code) of the whole process will be automatically packaged and uploaded to the subway operation center through the RS485 / Ethernet interface.

[0067] The standard parts used in the present application can be purchased from the market, and the special-shaped parts can be ordered according to the description and drawings. The specific connection mode of each part adopts the conventional means such as bolts, rivets and welding in the prior art. The mechanical parts and equipment adopt conventional models in the prior art. The circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here. The contents not described in detail in the specification all belong to the prior art known to those skilled in the art.

[0068] In the drawings of the embodiments of the present application, only the structures related to the embodiments of the present disclosure are involved, and other structures can be referred to the usual design. In the case of no conflict, the same embodiment and different embodiments of the present application can be combined with each other.

[0069] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A subway car platform clearance compensation pedal, characterized in that: It includes multiple substrates (1) and extension plates (2) that are evenly distributed in the horizontal direction; Two guide rails (11) are symmetrically arranged on each of the substrates (1), and two sliding grooves (21) are symmetrically opened on each of the extension plates (2). The two guide rails (11) are slidably connected in the two sliding grooves (21). A cover plate (3) is covered on multiple substrates (1). Multiple threaded holes (31) are symmetrically opened on the side of the cover plate (3). A slot (32) is opened on the top of the cover plate (3). Multiple slots (32) are evenly distributed in the horizontal direction. A pushing component (4) is provided on each substrate (1). The pushing component (4) includes a slot (41) opened on the extension plate (2), an electric push rod (42) is fixedly connected to the base plate (1), a connecting member (43) is provided on the output end of the electric push rod (42), the output end of the connecting member (43) is connected to the extension plate (2), and the electric push rod (42) drives the extension plate (2) to slide along the two guide rails (11) through the connecting member (43), and the pushing component (4) is disposed in the slot (41).

2. The subway car platform clearance compensation pedal according to claim 1, characterized in that: The connecting member (43) includes a connecting buckle (431) fixedly connected to the output end of the electric push rod (42). The connecting buckle (431) has a bolt hole (432). The extension plate (2) is provided with a bolt (433). The end of the bolt (433) is threaded into the bolt hole (432).

3. A subway car platform clearance compensation pedal according to claim 1, characterized in that: A pull-back assembly (5) is provided between each of the substrates (1) and the extension plate (2). The pull-back assembly (5) includes a rotating seat (51) rotatably connected to the bottom plate of the substrate (1). The rotating seat (51) has a hexagonal insertion hole (52) on its top. A steel wire rope (53) is wound on the rotating seat (51). A baffle (54) is fixedly connected to the rotating seat (51).

4. A subway car platform clearance compensation pedal according to claim 3, characterized in that: The hexagonal socket (52) is connected to the slot (32), the two ends of the steel wire rope (53) are fixedly connected to the rotating seat (51) and the extension plate (2) respectively, and the baffle (54) is fixedly connected to the rotating seat (51) and rotates on the base plate (1).

5. An electronic control system for a subway car platform clearance compensation tread as described in any one of claims 1 to 4, characterized in that, include: The main controller uses an industrial-grade MCU. The signal acquisition module, electrically connected to the main controller, includes a bus interface module for accessing the train control network and a laser ranging sensor for measuring platform clearance. The drive control module, electrically connected to the main controller, includes a servo driver for driving the electric actuator (42); The monitoring module is electrically connected to the main controller and includes a current-temperature sensor for collecting the working current and temperature of the electric push rod (42), and a retracted position sensor and an extended position sensor for detecting the position of the extension plate (2). The main controller is configured to perform the following operations: After the system is powered on, a safety self-test is performed through the monitoring module to verify whether the static current of each drive circuit is less than the safety threshold and whether all extension boards (2) are in the retracted position. After obtaining the train stopping and door opening signals through the bus interface module, the laser ranging sensor group is activated to collect multiple gap measurement values. Data fusion processing based on the Laida criterion is performed on multiple gap measurements. The arithmetic mean and standard deviation are calculated, and invalid measurements that deviate from the mean by more than three times the standard deviation are removed to obtain the fused gap value. The fused gap value is compared with the pre-stored standard gap value, and control commands are generated through an adaptive PID control algorithm with speed feedforward, wherein the PID parameters are dynamically adjusted according to the real-time deviation. The servo electric actuator (42) is driven by the drive control module to perform the extension action, and the encoder provides real-time feedback to form a closed-loop position control. During operation, the monitoring module performs overload and stall diagnosis in real time. When a fault is detected, the operation is stopped immediately and an alarm is triggered. Upon receiving the door closing signal, the control extension board (2) retracts and uploads the operation data to the operation and maintenance system via the data interface.

6. The electronic control system according to claim 5, characterized in that: In the data fusion process, the formula for calculating the fusion gap value D is: Where dj represents the valid measurement value, N represents the number of valid values, and the selection criteria for valid measurements are as follows: in σ is the arithmetic mean of the original measurements, and σ is the standard deviation.

7. The electronic control system according to claim 5, characterized in that: The control law of the adaptive PID control algorithm is: Where e(t) is the real-time gap deviation, K p (e), K i (e), K d (e) represents the parameter K that is dynamically adjusted based on the magnitude of |e(t)|. f V is the feedforward coefficient. cmd The speed is the command speed.

8. The electronic control system according to claim 5, characterized in that: The overload diagnosis criterion is the operating current I. work >I set And the duration t > t set The criteria for stall diagnosis are that the motor speed n≈0 and I is detected within Δt time after the control command is issued. work >I set .

9. The electronic control system according to claim 5, characterized in that: It also includes predictive maintenance functionality, which generates a maintenance warning signal when it detects that the average peak current value is monotonically increasing and the increase exceeds a set threshold after recording and analyzing historical peak current data.

10. The electronic control system according to claim 5, characterized in that: The system also includes an emergency response mechanism. When the push component (4) fails, an emergency operation guide is displayed through the human-machine interaction module, allowing the extension plate (2) to be forcibly retracted by manually driving the pull-back component (5) through the mechanical interface.

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