Automatic control method and system for railway track lifting device based on state feedback closed loop

Abstract

The invention discloses a railway track lifting device automatic control method and system based on a state feedback closed loop, and relates to the field of automatic control. The method depends on a controller and comprises the following steps: generating an operation target in combination with line parameters; track lifting oil cylinders on the two sides are driven to stretch out, and pre-tightening in place is confirmed through an oil pressure closed loop; the ultrahigh rail is locked, the reference rail oil cylinder is driven to stretch out, the actual rail lifting height is calculated in real time through the transverse angle fed back by the tilt angle sensor, and closed-loop control is conducted till the target rail lifting amount is achieved; follow-up control is performed by using a transverse superelevation value fed back by the tilt angle sensor until the transverse superelevation value is consistent with the target superelevation And finally, automatically resetting. According to the invention, a traditional stay wire sensor is canceled, and low-cost and high-reliability automatic control of track lifting operation is realized through a full-dip-angle data fusion algorithm.

Description

Technical Field

[0001] This application relates to the field of automatic control, and in particular to an automatic control method and system for railway track lifting devices based on state feedback closed loop. Background Technology

[0002] When carrying out on-site track maintenance and construction, railway engineering sections widely adopt a work mode that mainly uses small machines. Among them, the gantry crane is the core equipment used for track lifting operations. This type of equipment drives the track to lift through hydraulic cylinders, aiming to correct the geometric parameters of the track, adjust the height and level of the track, eliminate track unevenness, and ensure the safety and smoothness of train operation.

[0003] However, existing gantry cranes have significant problems in actual operation, such as low automation and reliance on manual experience. Currently, the measurement of lifting volume and level mainly relies on manual on-site visual inspection using rulers and track gauges, resulting in a lack of real-time and accurate data acquisition. At the same time, the extension and retraction of the hydraulic cylinders during the lifting process are entirely controlled manually by the operator. This operation mode not only requires a large number of people to cooperate in a tedious manner, but is also extremely time-consuming, leading to low work efficiency, high labor intensity for operators, and the final lifting quality is easily affected by human error.

[0004] To overcome the shortcomings of traditional manual track lifting operations, such as low efficiency, high labor intensity, and difficulty in guaranteeing accuracy, there is an urgent need to develop an intelligent track lifting control scheme. This scheme involves introducing detection devices such as tilt sensors and hydraulic sensors to replace manual measurement, and using a controller to achieve automatic calculation and closed-loop control of track lifting volume and horizontal height, thereby realizing the automation and precision of track lifting operations. This has become a technical problem that urgently needs to be solved in the field of railway track maintenance machinery. Summary of the Invention

[0005] This application aims to at least partially solve one of the technical problems in the related art. To this end, one objective of this application is to propose an automatic control method and system for railway track lifting devices based on state feedback closed loop.

[0006] One aspect of this application provides an automatic control method for a railway track lifting device based on a state feedback closed loop. The method is applied to a control system comprising a controller, a track lifting cylinder, a hydraulic pressure sensor, an inclination sensor, and a human-machine interface. The method includes the following steps: Step 1: The controller receives the line curve parameters and set track lifting amount input by the user, combines them with the real-time sensor data, calculates the theoretical superelevation value of the current work point, and generates a work target instruction that includes the target track lifting amount and the target superelevation amount. Step 2: The controller responds to the track lifting start signal, reads the work target command, and simultaneously drives the left and right track lifting cylinders to extend. During the extension process, the controller collects the pressure values ​​of the left and right cylinders in real time. When the pressure values ​​of both cylinders reach the preset hydraulic pressure setting value, it is determined that the cylinder rod ends have been tightened against the ballast. The controller generates a pre-tightening signal and transmits it to the next step. Step 3: After receiving the pre-tensioning signal, the controller locks the state of the cylinder on one side of the ultra-high-speed rail and drives the lifting cylinder on the side of the reference rail to continue extending. During the extension process, the controller collects the lateral tilt angle change value fed back by the tilt angle sensor in real time. Based on the preset robotic arm length parameters of the lifting device, the controller calculates the lateral tilt angle change value into the actual lifting amount and compares the actual lifting amount with the target lifting amount in the operation target instruction. When the actual lifting amount reaches the target lifting amount, the controller cuts off the control signal of the cylinder on the side of the reference rail to keep it in a pressure-holding state and generates a reference lifting completion signal to be transmitted to the next step. Step 4: After receiving the baseline track lifting completion signal, the controller drives the track lifting cylinder on one side of the superelevation rail to extend; during the extension process, the controller collects the actual superelevation value fed back by the tilt sensor in real time and compares the actual superelevation value with the target superelevation amount in the operation target instruction; when the actual superelevation value is consistent with the target superelevation amount, the controller cuts off the control signal of the cylinder on the superelevation rail side to put it in the pressure holding state, and generates a track lifting operation completion holding signal; Step 5: After receiving the tamping completion command or the pedal release signal, the controller responds to the release of the track lifting operation end holding signal by driving the left and right track lifting cylinders to retract synchronously, and stops driving after reaching the preset delay time, thus completing the reset.

[0007] One aspect of this application provides an automatic control system for a railway track lifting device based on a state feedback closed loop, comprising: The generation module is used by the controller to receive the line curve parameters and set track lifting amount input by the user, combine them with the real-time collected sensor data, calculate the theoretical superelevation value of the current work point, and generate a work target instruction that includes the target track lifting amount and the target superelevation amount. The first processing module is used by the controller to respond to the track lifting start signal, read the operation target instruction, and simultaneously drive the left and right track lifting cylinders to extend; during the extension process, the controller collects the pressure values ​​of the left and right cylinders in real time; when the pressure values ​​of both cylinders reach the preset oil pressure setting value, it is determined that the cylinder rod end has been tightened against the ballast, and the controller generates a pre-tightening signal and transmits it to the next step; The second processing module is used to lock the state of the cylinder on one side of the ultra-high-speed rail after the controller receives the pre-tensioning signal, and drive the lifting cylinder on the side of the reference rail to continue to extend; during the extension process, the controller monitors the actual lifting amount of the reference rail in real time and compares the actual lifting amount with the target lifting amount in the operation target instruction; when the actual lifting amount reaches the target lifting amount, the controller cuts off the control signal of the cylinder on the side of the reference rail to keep it in a pressure holding state, and generates a reference lifting completion signal to be transmitted to the next step; The third processing module is used to drive the lifting cylinder on one side of the superelevation rail to extend after the controller receives the reference lifting completion signal; during the extension process, the controller collects the actual superelevation value fed back by the tilt sensor in real time and compares the actual superelevation value with the target superelevation amount in the operation target instruction; when the actual superelevation value is consistent with the target superelevation amount, the controller cuts off the control signal of the cylinder on the side of the superelevation rail to put it in the pressure holding state and generates a lifting operation end holding signal; The reset module is used by the controller to drive the left and right track lifting cylinders to retract synchronously in response to the release of the track lifting operation end holding signal after receiving the tamping completion command or the pedal release signal, and to stop driving after reaching the preset delay time to complete the reset.

[0008] One aspect of this application provides an electronic device characterized by comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the automatic control method for a railway track-lifting device based on a state feedback closed loop.

[0009] One aspect of this application provides a readable storage medium, characterized in that the readable storage medium stores a program adapted for loading by a processor to execute the steps in the automatic control method for a railway track-lifting device based on a state feedback closed loop.

[0010] Beneficial effects The automatic control method for railway track lifting devices based on state feedback closed loop proposed in this application fundamentally changes the traditional operation mode that relies on manual visual inspection and experience. Through the collaborative work of the controller and hydraulic, tilt angle and tilt angle sensors, a closed-loop control system for the entire process is constructed, so that the adjustment of track lifting amount and superelevation value is no longer subject to human visual error or operation delay. This automated control not only ensures the real-time and high accuracy of track geometry parameter adjustment, but also significantly reduces the labor intensity of on-site operators and greatly shortens the operation time of track maintenance, thereby effectively improving the overall efficiency and quality of railway track maintenance.

[0011] This application achieves extremely high safety and stability in its specific control logic. Especially in the pre-tightening stage, it adopts parallel dual-path pressure monitoring combined with a "logical AND" operation mechanism to ensure that subsequent actions are triggered only when both hydraulic cylinders reach the preset pressure and reliably tighten the ballast. This completely eliminates the risk of "false lifting" caused by unilateral suspension or uneven force. At the same time, in the track lifting implementation stage, it innovatively adopts a step-by-step control strategy of "first independent positioning of the reference rail, then horizontal following of the superelevation rail," which effectively decouples the mutual interference between the two hydraulic cylinders, avoids track attitude oscillations, and ensures the stability and accuracy of the final horizontal superelevation adjustment.

[0012] Furthermore, by introducing mileage synchronization and parameter initialization steps, this application ensures that the line geometry model on which the theoretical calculation is based strictly matches the actual physical location, solving the problem of parameter errors caused by positioning deviation. Combined with a unique manual compensation and correction logic, it allows operators to overlay their field experience into the automatically calculated theoretical values ​​in real time, achieving a perfect combination of "theoretical accuracy" and "engineering experience". At the end of the operation, the automatic retraction and reset function based on status monitoring further simplifies the operation process and ensures the standardization and safety of equipment reset. Attached Figure Description

[0013] Figure 1 A block diagram illustrating the structure and control principle of the track lifting device system provided in this application embodiment; Figure 2 A schematic flowchart of an automatic control method for a railway track lifting device based on a state feedback closed loop, provided for this application; Figure 3 This application provides a schematic diagram of the automatic control system for a railway track lifting device based on a state feedback closed loop; Figure 4 This is a schematic diagram of an electronic device structure provided in one embodiment of this application; Figure 5 This is a schematic diagram of a readable storage medium structure provided in one embodiment of this application. Detailed Implementation

[0014] To better understand this application, various aspects of this application will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely descriptions of exemplary embodiments of this application and are not intended to limit the scope of this application in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0015] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to indicate that selected embodiments of this application are based on the embodiments of this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. At the same time, in the description of this application, the terms "first", "second", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0017] First, in order to implement the automatic control method for railway track lifting devices based on state feedback closed loops as described in this application, a specific hardware system architecture is required. Figure 1 A block diagram illustrating the structure and control principle of the track lifting device system provided in an embodiment of this application is shown.

[0018] like Figure 1 As shown, the system uses an ARM microcontroller of model LPC1788 as the core control unit. The LPC1788 is based on the Cortex-M3 core, with an operating frequency of up to 120MHz. It has powerful floating-point operation capabilities and rich peripheral interfaces, which can meet the needs of high-speed acquisition and real-time calculation of multi-channel sensor data in track lifting operations.

[0019] For signal input, the controller connects to the track lifting compensation knob, the ultra-high compensation knob, and the hydraulic cylinder pressure sensors on both sides via an analog input interface. Specifically, the controller communicates with a high-precision tilt sensor via a UART serial communication interface or a CAN bus interface. This tilt sensor simultaneously outputs the ultra-high angle data (Roll) of the track's lateral direction, thus replacing the traditional wire-type sensor and avoiding the problems of sensor damage and accuracy drift under harsh operating conditions.

[0020] In terms of output, the controller sends control signals through the switch output interface to drive the extension solenoid valve of the left rail lifting cylinder, the retraction solenoid valve of the left rail lifting cylinder, the extension solenoid valve of the right rail lifting cylinder, and the retraction solenoid valve of the right rail lifting cylinder, thereby precisely controlling the extension and retraction of the lifting cylinders on both sides.

[0021] In addition, to meet the needs of emergency operations on site, the system is also equipped with an independent manual control circuit. When the manual / automatic selection switch is set to manual mode, the operator can directly control the cylinders through physical handles, including the left rail lifting cylinder operating handle (extended / retracted position) and the right rail lifting cylinder operating handle (extended / retracted position). These handles are directly associated with the corresponding solenoid valves or hydraulic circuits, allowing manual intervention when the controller's automatic logic is not activated.

[0022] In railway track maintenance and construction, gantry cranes are core equipment used for track lifting operations. They lift the track using hydraulic cylinders to correct track geometry, adjust track height and level, and eliminate track unevenness. However, in existing technology, the lifting amount and level measurement are done manually using rulers and track gauges, resulting in a lack of real-time and accurate data acquisition. Furthermore, the extension and retraction of the hydraulic cylinders during lifting are manually controlled by operators, requiring a large number of personnel, leading to low work efficiency, high operator workload, and the lifting quality being affected by human error. Specifically, manual measurement is easily affected by factors such as ambient light, operator experience, and obstructed vision, resulting in large fluctuations in measurement data and failing to provide a reliable basis for lifting control. The hydraulic cylinder extension and retraction control relies on real-time judgment by the operator, making it difficult to accurately match the track geometry requirements, leading to deviations in the lifting amount and level adjustment.

[0023] For example, when performing track lifting operations on curved tracks, operators need to use a ruler to measure the lifting amount inside the curve. Due to the track structure obstructing the view and ruler reading errors, the measurement values ​​are inconsistent. Simultaneously, operators manually control the extension and retraction of the left and right track lifting cylinders to adjust the track level. Due to insufficient experience, the cylinders move asynchronously, causing the lifting amount to deviate from the target value. This necessitates repeated measurements and adjustments, extending the operation time. Furthermore, in this scenario, the cylinder pressure status is judged by the operator based on experience, making it difficult to accurately identify whether the cylinder rod end is firmly against the ballast. This can easily cause track displacement or cylinder unloaded during the lifting process, affecting the stability of the lifting quality.

[0024] If the above problems are not solved, the accuracy of track lifting operations will not meet the standard requirements for track geometry parameters, potentially leading to unstable train operation; low operational efficiency will prolong line closure time, increasing the pressure on railway operation and scheduling; high labor intensity will easily lead to accumulated operator fatigue, further amplifying human error, reducing the reliability of track lifting quality, and increasing subsequent maintenance costs and safety risks. Therefore, an automatic control method for railway track lifting devices based on state feedback closed loops is applied to a control system including a controller, track lifting cylinders, hydraulic pressure sensors, tilt sensors, and a human-machine interface. The method includes the following steps: Step 1: The controller receives the line curve parameters and set track lifting amount input by the user, combines them with the real-time sensor data, calculates the theoretical superelevation value of the current work point, and generates a work target instruction that includes the target track lifting amount and the target superelevation amount. Step 2: The controller responds to the track lifting start signal, reads the work target command, and simultaneously drives the left and right track lifting cylinders to extend. During the extension process, the controller collects the pressure values ​​of the left and right cylinders in real time. When the pressure values ​​of both cylinders reach the preset hydraulic pressure setting value, it is determined that the cylinder rod ends have been tightened against the ballast. The controller generates a pre-tightening signal and transmits it to the next step. Step 3: After receiving the pre-tensioning signal, the controller locks the state of the cylinder on one side of the ultra-high-speed rail and drives the lifting cylinder on the side of the reference rail to continue extending. During the extension process, the controller collects the lateral tilt angle change value fed back by the tilt angle sensor in real time. Based on the preset robotic arm length parameters of the lifting device, the controller calculates the lateral tilt angle change value into the actual lifting amount and compares the actual lifting amount with the target lifting amount in the operation target instruction. When the actual lifting amount reaches the target lifting amount, the controller cuts off the control signal of the cylinder on the side of the reference rail to keep it in a pressure-holding state and generates a reference lifting completion signal to be transmitted to the next step. Step 4: After receiving the baseline track lifting completion signal, the controller drives the track lifting cylinder on one side of the superelevation rail to extend. During the extension process, the controller collects the actual superelevation value fed back by the tilt sensor in real time and compares the actual superelevation value with the target superelevation amount in the operation target instruction. When the actual superelevation value is consistent with the target superelevation amount, the controller cuts off the control signal of the cylinder on the superelevation rail side to put it in the pressure holding state and generates a track lifting operation completion holding signal. Step 5: After receiving the tamping completion command or the pedal release signal, the controller responds to the release of the track lifting operation end holding signal by driving the left and right track lifting cylinders to retract synchronously, and stops driving after reaching the preset delay time, thus completing the reset.

[0025] For ease of understanding, the following explains some key terms in this embodiment: A controller is a core processing unit configured to receive and process various input signals, and generate control commands based on preset logic and algorithms to drive actuators to perform specific actions. In railway track lifting operations, the controller is responsible for coordinating and managing the entire automated control process.

[0026] A track-lifting cylinder is a hydraulic actuator that uses hydraulic pressure to achieve telescopic movement, thereby raising or lowering the track. Typically, a track-lifting device is equipped with a left-side track-lifting cylinder and a right-side track-lifting cylinder, which act on both sides of the track respectively.

[0027] A hydraulic pressure sensor is a device used to monitor the hydraulic pressure in a hydraulic system in real time. In track lifting operations, it is used to detect the pressure change when the end of the lifting cylinder rod contacts the ballast, in order to determine whether the cylinder has effectively tightened the ballast.

[0028] An inclination sensor is a device used to measure the angle of inclination of an object relative to a horizontal plane. In railway track laying operations, it is used to provide real-time feedback on the actual superelevation of the track, providing accurate measurement data for the leveling of superelevation rails.

[0029] The human-machine interface is a platform for operators to exchange information with the control system. It typically includes components such as displays, buttons, and knobs, and is used by users to input line curve parameters, set track start quantities, receive system status feedback, and trigger control commands.

[0030] Track curve parameters refer to data describing the geometry of railway tracks, such as curve radius, transition curve length, and design superelevation. These parameters are important bases for controllers to calculate theoretical superelevation values ​​and plan track-starting operation targets.

[0031] The task target instruction is a set of target parameters calculated and generated by the controller based on user input and real-time data. It includes the target track lifting amount and the target superelevation amount, which serve as the control benchmark for each stage of the subsequent track lifting operation.

[0032] The pre-tensioning signal is a status signal generated by the controller after it detects that the pressure values ​​of both lifting cylinders have reached the preset oil pressure setting value. It indicates that the cylinder rod ends have reliably tightened the ballast, laying the foundation for subsequent precise lifting operations.

[0033] The reference gauge and superelevation gauge are relative concepts for railway tracks on curves. On curves, the inner track is usually defined as the reference gauge, and the outer track as the superelevation gauge. During track lifting operations, the lifting amount of the reference gauge is first precisely controlled, and then the height of the superelevation gauge is adjusted to achieve the target superelevation.

[0034] The pressure holding state refers to the hydraulic cylinder maintaining its current position after reaching the target position by cutting off the control signal and maintaining the hydraulic system pressure, thus preventing displacement due to external loads or system leakage.

[0035] This application proposes an automatic control method for railway track lifting devices based on state feedback closed loop, which achieves automation and precision in track lifting operations through a series of coordinated steps.

[0036] First, in the initial stage, the controller is configured to receive track curve parameters and set track lift parameters input by the user. For example, the user can manually input these parameters through a human-machine interface or obtain them by reading data pre-stored in a storage medium. Simultaneously, the controller combines real-time acquired sensor data, such as current track elevation data obtained through tilt sensors or laser rangefinders, to calculate the theoretical superelevation value for the current work point. Subsequently, based on these inputs and calculation results, the controller generates work target instructions containing the target track lift and target superelevation. As one implementation, the controller can store these target instructions in internal registers for later use in subsequent steps.

[0037] Furthermore, during the track-starting phase, the controller responds to the track-starting signal. This signal can be triggered by the operator via a physical button on the human-machine interface or sent via remote control commands. Upon receiving the signal, the controller reads the aforementioned operational target command and simultaneously extends both the left and right track-starting cylinders. During cylinder extension, the controller continuously monitors the pressure values ​​of the left and right cylinders. For example, a hydraulic pressure sensor can transmit pressure data to the controller at a fixed sampling frequency. When the controller detects that the pressure values ​​of both cylinders have reached the preset hydraulic pressure setpoint, it determines that the cylinder rod ends have tightened against the ballast. The controller then generates a pre-tightening signal and transmits it to the next step. Alternatively, this pre-tightening signal can be a digital logic level signal.

[0038] Subsequently, during the track-lifting phase on the reference rail, after receiving the aforementioned pre-tensioning signal, the controller locks the state of the cylinder on one side of the superelevation rail and simultaneously drives the track-lifting cylinder on the reference rail side to continue extending. During this process, the LPC1788 controller executes the "angle-height" calculation algorithm: the controller reads the lateral tilt angle value fed back by the tilt sensor in real time. The controller's internal memory stores the mechanical geometric model parameters of the track-lifting device. This model sets the rear running wheel axle (or the center of the rear bogie) of the track-lifting device as the pivot point, and defines the horizontal distance from this pivot point to the vertical line of action of the track-lifting cylinder as the preset robotic arm length parameter L. The initial lateral angle before operation is... The longitudinal angle collected in real time is The controller utilizes trigonometric relationships (e.g., ) Calculate the current actual track opening volume in real time.

[0039] The controller compares the calculated actual track lifting amount with the target track lifting amount in the operation target instruction. When the actual track lifting amount reaches the target track lifting amount, the controller cuts off the control signal of the hydraulic cylinder on the reference rail side to keep it in a pressure holding state and generates a reference track lifting completion signal.

[0040] Based on this, during the superelevation rail adjustment phase, after receiving the aforementioned baseline track lifting completion signal, the controller drives the track lifting cylinder on one side of the superelevation rail to extend. During the extension process, the controller collects the actual superelevation value fed back by the tilt sensor in real time. For example, the tilt sensor can be installed on the crossbeam of the gantry crane to measure the tilt angle of the track. The controller compares the actual superelevation value with the target superelevation amount in the aforementioned operation target instruction. When the actual superelevation value matches the target superelevation amount, the controller cuts off the control signal to the cylinder on the superelevation rail side, putting it in a pressure-holding state, and generates a track lifting operation completion holding signal.

[0041] Finally, during the reset phase, upon receiving the tamping completion command or the pedal release signal, the controller, in response to the release of the aforementioned track lifting operation completion holding signal, drives the left and right track lifting cylinders to retract synchronously. For example, the tamping completion command can be sent by the tamping equipment, or the pedal release signal can be triggered by the operator via a foot switch. While driving the cylinders to retract, the controller starts an internal timer and stops driving after a preset delay time, thus completing the entire reset process.

[0042] The following example will provide a more detailed explanation of the above technical solution: Suppose that on a curved section of railway, track lifting and superelevation adjustments are required to eliminate track irregularities and restore the designed superelevation. Traditional methods require multiple workers: one to take measurements and another to operate the track lifting machine, resulting in low efficiency and difficulty in guaranteeing accuracy.

[0043] To address this issue, this application proposes an automatic control method for railway track lifting devices based on a state feedback closed loop. Specifically, before the operation begins, user A inputs the track curve parameters for the curve segment, such as the curve radius and design superelevation, through a human-machine interface, and sets the target track lifting amount for this operation. After receiving these parameters, the controller combines them with the current track elevation data collected in real time by the tilt sensor installed on the track lifting device to calculate the theoretical superelevation value required for the current operation point. Subsequently, the controller integrates the user-set target track lifting amount and the calculated target superelevation amount to generate a complete operation target instruction, which is then stored in the internal memory.

[0044] Once user A confirms and triggers the track-lifting start signal, the controller immediately reads the aforementioned operational target instruction. Simultaneously, the controller sends opening commands to the hydraulic control valves of the left and right track-lifting cylinders, driving both cylinders to extend synchronously. During the cylinder extension process, the controller continuously collects the pressure values ​​fed back from the hydraulic pressure sensors installed on each cylinder in real time. When the controller detects that the pressure values ​​of both the left and right cylinders have reached the preset hydraulic pressure settings, this indicates that the rod ends of both cylinders have reliably engaged the ballast and applied preload to the track. At this point, the controller generates a preload completion signal and sends it to the next control module.

[0045] After receiving the pre-tensioning signal, the controller first determines the reference rail (e.g., inner rail) and superelevation rail (e.g., outer rail) for the curve segment based on the input track curve parameters. Then, the controller locks the state of the cylinder on the superelevation rail side, keeping its hydraulic control valve closed and preventing it from extending. Simultaneously, the controller continues to extend the lifting cylinder on the reference rail side. During the extension of the reference rail cylinder, the controller monitors the actual lifting amount fed back by the tilt sensor mounted on the gantry crane's crossbeam in real time. The controller continuously compares this actual lifting amount with the target lifting amount in the aforementioned work target instruction. Once the actual lifting amount reaches or slightly exceeds the target lifting amount, the controller immediately cuts off the control signal to the cylinder on the reference rail side, putting it into a pressure-holding state, thereby precisely raising the reference rail to the predetermined height. At this point, the controller generates a reference lifting completion signal, notifying the system that the reference rail lifting operation is complete.

[0046] Following the receipt of the baseline track lifting completion signal, the controller initiates the extension of the track lifting cylinder on one side of the superelevation rail. During the extension process, the controller continuously collects the actual superelevation value from the tilt sensor mounted on the gantry crane's crossbeam. The controller then compares this actual superelevation value with the target superelevation value in the aforementioned operational command. Through closed-loop control, the controller continuously adjusts the extension amount of the superelevation rail cylinder until the actual superelevation value precisely matches the target superelevation value. Once this match is achieved, the controller immediately cuts off the control signal to the cylinder on the superelevation rail side, putting it into a pressure-holding state to ensure the accuracy of the track level superelevation adjustment. At this point, the controller generates a track lifting operation completion holding signal, indicating that the track lifting and superelevation adjustment operation has achieved its target and remains stable.

[0047] Finally, when the tamping equipment completes the tamping operation on the ballast and sends a tamping completion command, or when the operator triggers the pedal release signal via a foot switch, the controller responds to the release of the aforementioned track lifting operation completion holding signal. The controller then sends commands to the retraction control valves of the left and right track lifting cylinders, driving both cylinders to retract synchronously. Simultaneously with sending the retraction command, the controller starts an internal timer. When the timer's count reaches the preset delay time, the controller automatically stops driving the cylinders to retract, thus completing the entire track lifting device reset process and preparing for the next operation.

[0048] Based on the above examples, the automatic control method for railway track lifting devices based on state feedback closed loop proposed in this application demonstrates a significant technological contribution compared to traditional existing operating methods.

[0049] Traditional track lifting operations rely heavily on manual experience and visual inspection. For example, the input of track curve parameters and lifting quantities are often based on experience-based judgment, while the actual lifting quantity and superelevation value must be measured manually using gauges and track gauges. This method not only lacks real-time and accurate data acquisition, but also requires operators to manually control the extension and retraction of hydraulic cylinders throughout the entire lifting process, resulting in low work efficiency, high labor intensity for operators, and the final lifting quality is easily affected by human error.

[0050] This application achieves automatic calculation and closed-loop control of track lifting capacity and horizontal superelevation by introducing detection devices such as controllers, hydraulic sensors, and tilt sensors. Specifically, during the operation target instruction generation stage, the controller can receive the line curve parameters and set track lifting capacity input by the user, and calculate the theoretical superelevation value by combining it with real-time acquired sensor data, thereby generating accurate operation target instructions. Compared with traditional manual estimation or table lookup methods, this significantly improves the accuracy and real-time performance of target setting.

[0051] During the track lifting and pre-tightening stage, the pressure values ​​of the hydraulic cylinders on both sides are collected in real time and monitored to determine whether the cylinders are tightening the ballast, and a pre-tightening signal is generated. This mechanism replaces the traditional manual judgment based on experience to determine whether the cylinders are tightened, effectively avoiding operational instability or equipment damage caused by insufficient or excessive tightening, and ensuring the reliability of track lifting operations.

[0052] During the track lifting and superelevation adjustment phases, the controller monitors the actual track lifting amount and superelevation value in real time and compares them with the target command, achieving precise closed-loop control. When the target value is reached, the controller automatically cuts off the control signal and puts the hydraulic cylinder into a pressure-holding state. This automated and high-precision control method completely changes the inefficient traditional mode of repeated manual measurement and adjustment, greatly improving the accuracy and efficiency of track lifting operations while significantly reducing the labor intensity of operators.

[0053] Furthermore, during the reset phase, the controller responds to the tamping completion command or the pedal release signal, driving the hydraulic cylinders to retract synchronously and stop after a delay, thus achieving automated connection of the work process. Compared with the traditional manual operation of retracting each hydraulic cylinder one by one, this further simplifies the operation and improves the overall smoothness and safety of the operation.

[0054] In summary, the technical solution of this application, through a state feedback closed-loop control mechanism, transforms railway track lifting operations from a mode highly dependent on human experience and manual operation to an automated, real-time, and high-precision intelligent control mode. Therefore, this application effectively solves a series of technical problems in traditional operations, such as low automation, inaccurate measurement, low efficiency, high labor intensity, and poor accuracy, providing an innovative and practical solution for the field of railway track maintenance machinery.

[0055] In some of the solutions mentioned above in this application, a track lifting control method is proposed to automatically calculate the track lifting amount and superelevation value. However, in its implementation, due to the lack of a precise position synchronization mechanism, the calculation of the track geometry may be inaccurate, leading to an increase in track lifting operation error.

[0056] To address this, this application further proposes a mileage synchronization and parameter initialization step prior to step one. In this step, the controller receives the synchronization point kilometer value input by the user through a human-machine interface; when the auxiliary wheel of the track-starting device reaches the synchronization point position on the physical line, the controller responds to the synchronization button signal triggered by the user and locks the current physical position as the starting point for line calculation; based on the line curve parameters and the current physical position, the controller automatically calculates the line geometry state of the current work point, including straight line, transition curve, or circular curve state, and inputs this state as the basic data for generating the work target instruction into step one.

[0057] The mileage synchronization and parameter initialization steps aim to establish a precise correspondence between the physical location of the track-lifting device and the line design parameters, and initialize the line geometry data based on the current location. Its function is to provide accurate geographic coordinates and line characteristic information for subsequent automatic track-lifting operations, ensuring that the calculation of track lifting volume and superelevation is based on the correct line geometry model. This step can be achieved by adding auxiliary wheels to the track-lifting device, which are connected to an encoder. As the operator pushes the track-lifting machine, the auxiliary wheels rotate, achieving automatic mileage synchronization. The controller is the core of the entire control system, responsible for processing data, executing instructions, and coordinating the work of various components. The human-machine interface (HMI) is the platform for operators to exchange information with the controller, used for inputting instructions, viewing status, and adjusting parameters. Receiving the synchronization point kilometer marker value input by the user means that the operator provides the controller with known and accurate line mileage information through the interface, serving as a reference starting point for subsequent calculations. The HMI can be an industrial tablet computer with a touchscreen, where the operator inputs the kilometer marker value via a numeric keypad or drop-down menu; or it can be a control panel with physical buttons and a display screen, where the operator inputs numbers via buttons and confirms on the display screen. The auxiliary wheels of the track-lifting device are typically wheelsets used to support the equipment and move along the track; their position serves as a reference point for the equipment's movement on the track. The synchronization point on the physical track refers to a specific location on the actual railway line that is predetermined or marked with known precise kilometer markers. The auxiliary wheels can be equipped with encoders or odometers to accurately measure their distance traveled, thus determining whether they have reached the specific position; alternatively, operators can determine whether the auxiliary wheels have reached the synchronization point through visual observation or auxiliary positioning tools (such as laser rangefinders). The synchronization button signal is a clear instruction issued by the operator to the controller, indicating that the current position of the auxiliary wheels is the starting point for track calculation. Upon receiving this signal, the controller records and fixes the current position data as the benchmark for all subsequent track geometry calculations. The synchronization button can be a physical button that generates an electrical signal transmitted to the controller when pressed by the operator; or it can be a virtual button on the human-machine interface, triggered by touch. Track curve parameters are data describing the geometry of the railway track, typically including the length of straight sections, curve radii, and transition curve lengths. Using these preset parameters and the locked starting point position, combined with the real-time movement distance of the track-raising device, the controller can calculate the geometric shape of the current work point on the track. The controller can internally store a track database containing the track geometric parameters corresponding to each kilometer marker, determining the state of the current point through table lookup and interpolation algorithms; alternatively, the controller can run a track geometric model algorithm to calculate the curve equation of the current point in real time based on the starting point and the movement distance, thereby determining its geometric state.The track geometry (straight line, transition curve, or circular curve) is crucial for determining track lifting and superelevation requirements, as the theoretical superelevation and lifting needs differ depending on the track condition. Inputting this geometry as foundational data into step one ensures the accuracy and adaptability of the operational target instructions. The controller can store the calculated geometry (e.g., represented by enumerated values ​​or strings) in a specific register or variable for the program module in step one to access; alternatively, the controller can pass the geometry as a parameter to the function or subroutine in step one responsible for generating the operational target instructions.

[0058] This application's solution provides a precise spatial reference for the aforementioned automatic control method of the track-starting device by introducing mileage synchronization and parameter initialization steps. In the basic track-starting control method, the controller needs to calculate the theoretical superelevation value and generate the work target instruction based on the track curve parameters and real-time sensor data. However, if the controller cannot accurately know the precise position of the track-starting device on the physical track, even with detailed track curve parameters, it may not be able to correctly match the track geometry corresponding to the current work point, resulting in inaccurate calculations of the theoretical superelevation value and the target track-starting amount. This solution allows the user to input a known kilometer marker value for a synchronization point on the human-machine interface, and when the auxiliary wheel of the track-starting device reaches that physical synchronization point, the user-triggered synchronization button signal precisely locks the current physical position as the starting point for track calculation. This mechanism effectively solves the problem of position uncertainty and provides a reliable benchmark for subsequent track geometry calculations. Once the starting point is precisely locked, the controller can automatically and in real-time calculate the track geometry of the current work point, whether it is a straight line, a transition curve, or a circular curve, based on the preset track curve parameters and the current accurate physical position. This precise geometric information is then used as the basis data input to step one, ensuring that the controller can calculate the target track lifting amount and target superelevation amount based on the most accurate track geometry conditions when generating the operation target command. Therefore, this scheme, combined with the basic track lifting control method, enables the entire closed-loop control system to obtain high-precision input data from the beginning, thereby significantly improving the accuracy and reliability of subsequent track lifting and leveling operations.

[0059] In one specific implementation, the controller can use an LPC1788 ARM chip as its core and connect to a touch-screen human-machine interface via a serial port. Before the track-starting operation begins, the operator selects the "mileage synchronization" function on the touchscreen and inputs the precise kilometer marker of the current location of the track-starting device's auxiliary wheels, such as "K100+500". When the track-starting device moves to this physical location, the operator presses the "synchronize" virtual button on the touchscreen. After receiving this signal, the controller associates the current odometer reading with the input kilometer marker and sets it as the starting point for route calculation. The controller has a pre-stored database of curve parameters for the route; for example, K100+000 to K101+000 is a straight section, K101+000 to K101+200 is a transition curve, and K101+200 to K102+000 is a circular curve with a radius R=800m. Based on the locked starting point and real-time mileage data of the track-starting device, the PLC uses table lookup and linear interpolation algorithms to determine in real time whether the current work point is on a straight line, a transition curve, or a circular curve. For example, if the current work point is located at K101+100, the PLC determines that it is on a transition curve. This "transition curve" status information is then passed to the program module responsible for generating the work target instructions, serving as a key input for calculating the theoretical superelevation value and the target track-starting amount.

[0060] Through the above technical solution, this application effectively solves the problem of inaccurate calculation of track geometry state caused by the lack of a precise position synchronization mechanism in traditional track lifting operations. By introducing mileage synchronization and parameter initialization steps, it ensures that the controller can accurately identify the track geometry state of the current work point based on accurate physical location and track curve parameters. This allows the target track lifting amount and target superelevation amount in the subsequently generated work target instructions to be highly matched with the actual track conditions, significantly improving the accuracy and automation level of track lifting operations, reducing manual intervention and errors, thereby ensuring the quality of track geometry parameter adjustment and improving the smoothness and safety of train operation.

[0061] In some of the embodiments described above in this application, a method for generating work target instructions is proposed to control track lifting operations. However, in this process, the theoretical superelevation value may not be suitable for the actual site conditions or user experience, resulting in inaccurate target superelevation and thus affecting track lifting accuracy.

[0062] In response, this application further proposes that in step one, the generation process of the operation target instruction also includes manual compensation correction logic: the controller detects the rotation angle signal of the superelevation compensation knob in real time and converts the rotation angle signal into a superelevation compensation value; the controller superimposes the superelevation compensation value with the theoretical superelevation value calculated based on the track curve parameters to obtain the corrected target superelevation amount; the controller updates the corrected target superelevation amount into the operation target instruction as a comparison benchmark for the superelevation track horizontal following control in step four.

[0063] The manual compensation correction logic refers to a mechanism that allows operators to manually adjust and correct the theoretical values ​​automatically calculated by the system based on actual on-site conditions or experience. This logic can be implemented through physical input devices such as hardware knobs, potentiometers, or encoders, where operators input the compensation amount by rotating the knob; or through software interface elements such as virtual sliders, increase / decrease buttons, or numeric input boxes on the human-machine interface, where operators input the compensation amount by clicking or dragging. The controller monitors the rotation angle signal of the ultra-high compensation knob in real time to ensure the system can promptly understand the operator's intention regarding ultra-high compensation. The controller can be configured with an analog input interface to directly read the voltage signal output from the potentiometer connected to the ultra-high compensation knob, which is proportional to the rotation angle; alternatively, the controller can be configured with a digital input interface to read the pulse signal output from the encoder connected to the ultra-high compensation knob, determining the rotation angle by counting the pulses. Converting this rotation angle signal into an ultra-high compensation value quantifies the physical or virtual input signal into a physically meaningful value that the system can process. For analog signals, the controller can use an analog-to-digital converter (ADC) to convert the voltage signal into a digital signal, and then convert it into an ultra-high altitude compensation value through a preset linear or nonlinear mapping function. For digital signals, the controller can directly read the encoder output count value and convert it into an ultra-high altitude compensation value according to the encoder resolution and a preset scaling factor. The controller performs a superposition operation on the ultra-high altitude compensation value and the theoretical ultra-high altitude value calculated based on the line curve parameters, aiming to combine manual experience with theoretical calculation to generate a target value that better meets the actual operational requirements. The controller can perform a simple addition operation in its internal program, i.e., "corrected target ultra-high altitude = theoretical ultra-high altitude value + ultra-high altitude compensation value"; or, the controller can use a weighted average or other more complex algorithms for superposition operation according to actual needs. The corrected target ultra-high altitude value is the direct result of the above superposition operation, providing a more accurate ultra-high altitude target value that integrates theoretical calculation and manual experience. The controller stores this calculation result in an internal register or variable. The controller updates the corrected target ultra-high altitude value to the operation target instruction, aiming to ensure that the operation target instruction always contains the latest, manually corrected ultra-high altitude target value. The controller can directly modify the target superelevation field in the generated task target instruction data structure, or regenerate a new task target instruction. As a comparison benchmark for the superelevation rail horizontal following control in step four, the application of the corrected target superelevation in subsequent control stages is clarified, ensuring the accuracy of closed-loop control. In the control algorithm of step four, the controller compares the real-time collected actual superelevation value with this updated target superelevation to drive the superelevation rail cylinder, achieving precise horizontal following.

[0064] This application optimizes the step of generating the operational target instruction in the basic track-laying process. Traditionally, the target superelevation in the operational target instruction mainly relies on the theoretical superelevation value calculated by the controller based on the track curve parameters. However, various complex factors may exist in the actual operation site, such as track wear and uneven track bed settlement, leading to a deviation between the theoretically calculated superelevation value and the actual requirement. To solve this problem, this application introduces a manual compensation correction logic. Specifically, after the controller receives the track curve parameters input by the user in step one and calculates the theoretical superelevation value, it does not directly use it as the final target superelevation value. Instead, the controller monitors the adjustments made by the operator through the superelevation compensation knob in real time. The operator can rotate the superelevation compensation knob according to their field experience or observed actual conditions. The rotation angle signal of the knob is detected by the controller in real time and converted into a specific superelevation compensation value. Subsequently, the controller superimposes this manually input superelevation compensation value with the previously calculated theoretical superelevation value. This superposition operation combines the precision of theoretical calculations with the flexibility of human experience to obtain a corrected target superelevation that better reflects the actual situation on site. The controller then updates this corrected target superelevation into the operational target command, ensuring that subsequent track-lifting operations, especially the superelevation rail horizontal following control in step four, can use this more accurate target superelevation as a comparison benchmark. In this way, the proposed solution integrates operator experience into the automatic control process, enabling the system to flexibly adapt to the complexity and uncertainty of the site while maintaining a high degree of automation. This not only improves the accuracy of the target superelevation but also makes the entire track-lifting operation more intelligent and human-centered, effectively compensating for the limitations of purely theoretical calculations, thereby improving the overall accuracy and quality of the track-lifting operation.

[0065] In one specific implementation, a physical superelevation compensation knob can be installed on the human-machine interface of the railway track-lifting device control system. This knob can be a graduated potentiometer with a rotation angle range of ±90 degrees, corresponding to an output analog voltage signal of 0-5V. The controller, for example, using an STM32 series microcontroller, can acquire this analog voltage signal in real time through its built-in analog-to-digital converter (ADC). The firmware program inside the controller can linearly map the 0-5V voltage signal to a superelevation compensation value range of -50mm to +50mm. For example, when the controller calculates the theoretical superelevation value of 80mm for the current working point based on the track curve parameters in step one, if the operator observes that the actual situation on site requires a slight increase in superelevation, they can rotate the superelevation compensation knob clockwise. Assuming the knob is rotated to a certain position, the voltage signal detected by the controller is converted to a superelevation compensation value of +10mm. At this time, the controller will add the theoretical superelevation value of 80mm to the superelevation compensation value of +10mm to obtain a corrected target superelevation of 90mm. Subsequently, the controller will update this 90mm target superelevation value into the currently generated operational target instruction. When the track-laying operation reaches step four, which requires superelevation rail horizontal following control, the controller will use this 90mm as the target value, collect the actual superelevation value fed back by the tilt sensor in real time, compare and control it to ensure that the superelevation rail ultimately reaches a superelevation value of 90mm.

[0066] Through the above technical solution, this application effectively solves the problem that in traditional track lifting operations, the theoretically calculated superelevation value may not fully adapt to the actual site conditions, leading to inaccurate target superelevation and thus affecting track lifting accuracy. By introducing manual compensation and correction logic, operators can adjust the theoretical superelevation value in real time based on field experience or actual observation. This human-machine combined correction method makes the target superelevation in the final generated operation target instruction closer to the actual site requirements, thereby significantly improving the accuracy of track lifting operations. Especially in the fourth step of superelevation track horizontal following control, using the manually corrected target superelevation as a comparison benchmark ensures that the adjustment of the superelevation track is more accurate and in place, avoiding repeated adjustments or insufficient accuracy caused by the discrepancy between theoretical and actual values, thus improving operation efficiency and quality.

[0067] In some of the solutions mentioned above in this application, a pre-tightening signal is proposed to confirm that the end of the cylinder rod has been tightened against the ballast. However, in the judgment process, if there is no parallel monitoring and logical AND operation, the signal generation may be untimely or inaccurate, affecting the execution of subsequent steps.

[0068] In response, this application further proposes that the generation logic of the pre-tightening signal in step two specifically includes: the controller executing the left-path pressure monitoring subroutine and the right-path pressure monitoring subroutine in parallel; the left-path pressure monitoring subroutine determines: if the pressure value of the left cylinder is greater than or equal to the set oil pressure value, then the left top positioning indicator light on the interface is illuminated, and the left-path state is marked as ready; the right-path pressure monitoring subroutine determines: if the pressure value of the right cylinder is greater than or equal to the set oil pressure value, then the right top positioning indicator light on the interface is illuminated, and the right-path state is marked as ready; the controller performs a logical AND operation, and only outputs the pre-tightening signal when both the left-path and right-path states are simultaneously marked as ready, thereby triggering the execution of step three.

[0069] Specifically, the controller, as the core of the entire control system, is responsible for receiving and processing various signals and issuing control commands. Its "parallel execution" of the left and right pressure monitoring subroutines means that the controller can simultaneously or alternately process pressure data from the left and right cylinders within extremely short time intervals, ensuring real-time synchronous monitoring of the states on both sides. This can be achieved through the task scheduling mechanism of a multi-tasking operating system (such as a real-time operating system, RTOS), or through a multi-channel data acquisition and processing unit at the hardware level.

[0070] The left-side pressure monitoring subroutine and the right-side pressure monitoring subroutine are software modules or functional units within the controller, each independently responsible for monitoring the pressure status of its corresponding cylinder. These subroutines continuously read the "left cylinder pressure value" or "right cylinder pressure value" fed back from the hydraulic pressure sensor and compare it with a preset "hydraulic pressure setpoint." The hydraulic pressure setpoint is a threshold determined based on experience or experimentation; when the cylinder pressure reaches this value, it indicates that the cylinder rod end has made sufficient contact with the ballast and generated adequate preload.

[0071] When the pressure value of the cylinder on either side reaches or exceeds the set oil pressure value, the corresponding subroutine will perform two operations: first, "light up the left top-in position indicator light" or "right top-in position indicator light" on the interface to provide the operator with intuitive visual feedback to confirm that the cylinder on that side has been tightened into position; second, mark the "left side status" or "right side status" of that side as "ready". This is usually an internal Boolean variable or status flag used for subsequent logical judgments.

[0072] After receiving the updated status flags from the subroutines on both sides, the controller performs a logical AND operation. This means that only when both the "left side status" and the "right side status" are simultaneously marked as "ready" will the controller determine that both cylinders have tightened against the ballast and output a "pre-tightening signal". This signal serves as a trigger condition to initiate the subsequent step three, namely the extension operation of the cylinder on the reference rail side.

[0073] The solution presented in this application achieves accurate, real-time, and reliable judgment of the pre-tightening status of the track-lifting device through the aforementioned technical means. The controller executes the left and right pressure monitoring subroutines in parallel, simultaneously acquiring and processing pressure data from both cylinders. This avoids delays and information asynchrony issues that might occur with sequential processing, thus ensuring the timeliness of the pre-tightening status signal. By separately judging the pressure values ​​of both cylinders and providing independent visual indicators, operators can clearly understand the tightening status of each side. More importantly, the controller uses logical AND operations, outputting the pre-tightening status signal only when both cylinders reach the preset oil pressure setpoint and are marked as ready. This effectively avoids premature entry into the next stage of operation due to misjudgment or abnormality of a single cylinder, thereby ensuring the stability and safety of the pre-tightening process. This mechanism ensures that subsequent track-lifting operations can only begin after both sides of the track-lifting device have firmly tightened the ballast, laying a solid foundation for subsequent precise track-lifting and superelevation adjustments.

[0074] In one specific implementation, the controller can use the LPC1788 ARM chip as its core and connect to a touch-enabled human-machine interface via a serial port. It possesses multi-tasking capabilities and rich input / output interfaces. The left and right pressure monitoring subroutines can run as independent program blocks or functional modules within the controller, achieving parallel monitoring through the controller's cyclic scanning or interrupt mechanism. The pressure values ​​of the left and right cylinders can be acquired in real time by hydraulic pressure sensors connected to the controller's analog input module; these sensors can be piezoresistive or piezoelectric sensors. The hydraulic pressure setpoint can be pre-stored in the controller's data register and configured and adjusted through the human-machine interface. The left and right top position indicator lights on the interface can be controlled by the controller's digital output port, driving the LED indicator lights or graphic elements on the human-machine interface to illuminate or deactivate. The left and right states can be marked by the controller's internal bit memory. When both bit memories are set, the controller executes a logical AND instruction, generating a pre-tightening signal. This signal can be an internal flag used to trigger the execution of the next program segment, i.e., the start of step three.

[0075] The above technical solution effectively solves the problem of untimely or inaccurate judgment of pre-tensioning positioning signals in traditional track lifting operations. The parallel monitoring mechanism significantly improves the system's response speed to changes in the state of the cylinders on both sides, ensuring real-time information. The introduction of logical AND operations fundamentally eliminates the potential risks caused by unilateral misjudgments, guaranteeing the reliability and safety of pre-tensioning operations. This allows the track lifting device to complete pre-tensioning with higher precision and stability before entering the formal track lifting stage, thus providing a solid foundation for subsequent precise track lifting and superelevation adjustments, significantly improving the automation level and operational quality of railway track lifting operations.

[0076] In some of the embodiments described above in this application, a reference rail determination and control logic is proposed to achieve track start control. However, in its implementation, the identification of the reference rail and the control of the hydraulic cylinder may lack a clear mechanism, which may easily lead to operational errors or low efficiency.

[0077] In response, this application further proposes that in step three, the determination and control logic of the reference rail is as follows: the controller reads the superelevation direction data in the track curve parameters and identifies whether the superelevation rail is the left or right rail; the controller sets the rail opposite to the superelevation rail as the reference rail; after receiving the pre-tensioning signal, the controller only sends an opening signal to the hydraulic cylinder solenoid valve on the reference rail side, while keeping the hydraulic cylinder solenoid valve on the superelevation rail side in the closed state until the reference track lifting completion signal is generated.

[0078] Specifically, the controller retrieves pre-entered track curve parameters by accessing its internal memory or an external database. These parameters typically contain track geometry information, such as curve radius, superelevation value, and superelevation direction. Reading the superelevation direction data is a crucial step in determining the track geometry, providing fundamental information for subsequent identification of superelevated and reference tracks. This data can be stored as a numerical code (e.g., 0 for no superelevation, 1 for left superelevation, 2 for right superelevation) or a text description (e.g., "left superelevation," "right superelevation"). Based on the retrieved superelevation direction data, the controller uses pre-defined logic to determine which side of the track at the current work point is the superelevated track. For example, if the superelevation direction data indicates "left superelevation," the controller identifies the left track as the superelevated track; if it indicates "right superelevation," it identifies the right track as the superelevated track. This identification process is automated, avoiding errors that may arise from manual judgment and ensuring the accuracy of subsequent control. Once the superelevated track is identified, the controller automatically sets the track opposite the superelevated track as the reference track based on the geometry of the railway tracks. For example, if the left rail is identified as an ultra-high-speed rail, then the right rail will be set as the reference rail; conversely, if the right rail is an ultra-high-speed rail, then the left rail is the reference rail. This setting is a crucial basis for track lifting operations, as the reference rail is usually the first track to be lifted, ensuring the stability and accuracy of the lifting process. The pre-tightening signal indicates that the lifting cylinder has initially tightened the ballast. At this point, the controller, based on the determined reference rail information, precisely sends an opening command to the solenoid valve corresponding to the lifting cylinder on the reference rail side. This opening signal allows the cylinder on the reference rail side to continue extending, thus initiating precise track lifting operations on the reference rail. The solenoid valve can be normally closed or normally open, controlling the flow of hydraulic fluid by applying or removing electrical signals, thereby controlling the cylinder's movement. While the cylinder on the reference rail side extends, the controller ensures that the solenoid valve on the ultra-high-speed rail side remains closed. This means that the cylinder on the ultra-high-speed rail side will not extend or retract during this stage; its position remains unchanged. This control strategy avoids track instability or lifting errors that might result from simultaneous operation of the cylinders on both sides, ensuring the independence and accuracy of the reference rail lifting process. The extension operation of the cylinder on one side of the reference rail continues, and the controller monitors the actual lifting amount of the reference rail in real time and compares it with the target lifting amount. When the actual lifting amount reaches the target lifting amount, the controller generates a reference rail lifting completion signal. This signal marks the end of the reference rail lifting stage and is also the condition for triggering the start of the superelevation rail lifting stage. Before this signal is generated, the solenoid valve of the cylinder on the reference rail side will continuously receive opening signals, while the solenoid valve on the superelevation rail side remains closed.

[0079] This application's solution solves the problems of unclear reference rail identification and inaccurate cylinder control in traditional track lifting operations by introducing intelligent reference rail determination and control logic. In the entire automatic control method, after the controller receives the user-input track curve parameters and set track lifting amount, and generates the operation target command by combining it with real-time collected sensor data, it enters the preparation stage for track lifting. After the track lifting cylinder is pre-tensioned and a pre-tensioning signal is generated, to ensure the stability and accuracy of the track lifting operation, the controller first automatically identifies whether the superelevation rail at the current work point is the left or right rail based on the superelevation direction data in the preset track curve parameters. Based on this identification result, the controller logically sets the rail on the opposite side of the superelevation rail as the reference rail. This automated identification and setting process avoids the tediousness and potential errors of manual judgment, laying the foundation for subsequent precise control. Subsequently, upon receiving the pre-tensioning signal, the controller precisely controls the electric action of the cylinder. It only sends an opening signal to the solenoid valve of the cylinder on the determined reference rail side, causing the reference rail cylinder to extend and begin the track lifting operation. Meanwhile, the controller strictly keeps the solenoid valve of the hydraulic cylinder on one side of the ultra-high-speed rail in the closed state, ensuring that the ultra-high-speed rail cylinder does not move during this stage, thus avoiding track instability or overshoot of the lifting amount that may be caused by simultaneous movement of the cylinders on both sides. This single-sided precise control strategy allows the reference rail to independently and stably reach the preset target lifting amount. The controller continuously monitors the actual lifting amount of the reference rail and compares it with the target lifting amount in the work target instruction until the actual lifting amount reaches the target lifting amount. At this point, the controller generates a reference lifting completion signal. The generation of this signal marks the precise completion of the reference rail lifting stage and serves as a condition for triggering the ultra-high-speed rail lifting stage, ensuring the sequentiality, stability, and high precision of the entire lifting process. In this way, the solution of this application closely integrates the determination and control logic of the reference rail with the overall automatic control method, realizing the automation, intelligence, and high precision of the lifting operation, significantly improving work efficiency and quality.

[0080] In one specific implementation, the controller can employ an embedded system, such as an ARM-based microcontroller, whose internal memory stores a database of track curve parameters for the national railway network. When the track-lifting device reaches a work point, the operator receives the current kilometer marker input by the user through a human-machine interface. The controller can then retrieve the corresponding track curve parameters, including superelevation data, from the database. For example, if the retrieved track at the work point is right superelevation, the controller's internal logic will immediately identify the right rail as the superelevation rail and set the left rail as the reference rail. Upon receiving the pre-tensioning signal, the controller sends a high-level signal to the solenoid valve connected to the left rail track-lifting cylinder via its digital output port, opening it and allowing hydraulic oil to enter the left rail cylinder to extend it. Simultaneously, the controller ensures that the digital output port of the solenoid valve connected to the right rail track-lifting cylinder remains low, keeping it closed and preventing hydraulic oil from entering the right rail cylinder. The controller continuously monitors the actual track-lifting amount fed back by the tilt sensor (e.g., a wire-type tilt sensor) of the left rail track-lifting cylinder. When the actual track lifting volume reaches the target track lifting volume set in the operation target instruction, the controller will immediately cut off the opening signal sent to the left rail solenoid valve, causing it to close, and generate a reference track lifting completion signal to notify the system that the reference rail track lifting stage has been completed.

[0081] Through the above technical solution, this application effectively solves the problems of unclear reference rail identification and inaccurate cylinder control in traditional track lifting operations. The controller can automatically read the superelevation direction data in the track curve parameters and accurately identify the superelevation rail and reference rail accordingly, avoiding errors that may be caused by manual judgment and significantly improving the accuracy and automation of reference rail determination. After receiving the pre-tensioning signal, the controller only drives the solenoid valve of the cylinder on the reference rail side to open, while keeping the solenoid valve on the superelevation rail side closed. This precise single-sided control strategy ensures the independence and stability of the reference rail lifting process and effectively prevents track attitude instability or over-adjustment of lifting amount caused by the simultaneous action of cylinders on both sides. This closed-loop control mechanism enables the reference rail to accurately reach the target lifting amount, thus laying a solid foundation for the subsequent precise adjustment of the superelevation rail, improving the overall accuracy and efficiency of track lifting operations, reducing the labor intensity of operators, and reducing the risk of human error.

[0082] In some of the solutions mentioned above in this application, ultra-high-speed rail horizontal following control is proposed to adjust the track level. However, in its implementation, there may be a lack of precise triggering mechanism and real-time closed-loop adjustment, resulting in lag in control response and insufficient adjustment accuracy, which affects operational efficiency and reliability.

[0083] In response, this application further proposes an implementation method for ultra-high-altitude rail horizontal following control. In step four above, the specific execution process of ultra-high-altitude rail horizontal following control is as follows: the controller starts the tilt sensor data acquisition cycle with the reference track lifting completion signal as the trigger condition; the controller calculates the difference between the actual superelevation value and the target superelevation amount. If the difference exceeds the allowable range, the controller outputs a drive signal to control the ultra-high-altitude rail cylinder to move; the controller monitors the level gauge reading on the operation interface in real time. When the level gauge reading returns to zero and the actual superelevation value equals the target superelevation amount, the controller determines that the leveling is completed and outputs a track lifting operation completion hold signal.

[0084] Specifically, after receiving the baseline track-lifting completion signal, the controller uses this signal as a clear trigger condition for initiating the ultra-high-speed rail horizontal following control. The baseline track-lifting completion signal is issued by the controller after the track-lifting cylinder on the baseline rail side reaches the target track-lifting amount and enters the pressure-holding state. The controller's internal program module can be configured with an event listener to continuously monitor the status of this signal. Once the signal becomes valid, the subsequent ultra-high-speed rail control logic is triggered. Alternatively, the controller can employ an interrupt mechanism, using the baseline track-lifting completion signal as an external interrupt source. When this interrupt occurs, the system immediately jumps to the subroutine entry point of the ultra-high-speed rail horizontal following control.

[0085] Upon receiving the trigger signal, the controller immediately initiates the tilt sensor data acquisition cycle, periodically acquiring real-time superelevation data from the tilt sensor to provide a basis for subsequent leveling adjustments. The controller can be configured with a timer to trigger the tilt sensor to acquire data at a fixed sampling frequency (e.g., 10 or 20 times per second), storing the acquired data in memory for processing. Alternatively, the controller can use an event-driven approach, actively sending a read command to the tilt sensor after each superelevation cylinder action or at specific time intervals to obtain the current superelevation value.

[0086] Subsequently, the controller calculates the difference between the actual superelevation value and the target superelevation value. This is the core of closed-loop control; by comparing the actual measured value with the desired target value, the current deviation is quantified, providing a basis for adjustment. The controller can directly perform the subtraction operation, i.e., the difference equals the actual superelevation value minus the target superelevation value; alternatively, the controller can use the error calculation part of the PID (Proportional-Integral-Derivative) control algorithm, using the actual superelevation value as the feedback quantity and the target superelevation value as the setpoint, to calculate the current deviation.

[0087] If the calculated difference exceeds the allowable range, the controller outputs a drive signal to control the ultra-high-altitude rail cylinder. This logic ensures that the cylinder moves only when necessary, avoiding excessively frequent fine-tuning. The controller can preset an ultra-high deviation threshold (e.g., ±2 mm or ±0.5‰). When the absolute value of the calculated difference is greater than this threshold, the controller sends an energizing signal to the extension or retraction solenoid valve of the ultra-high-altitude rail cylinder according to the positive or negative direction of the difference. Alternatively, the controller can employ fuzzy control or adaptive control strategies to dynamically adjust the strength and duration of the drive signal based on the magnitude and trend of the difference, thereby achieving more precise control over the ultra-high-altitude rail cylinder's movement.

[0088] Throughout the adjustment process, the controller monitors the level gauge readings on the user interface in real time. This feature provides a means of manual monitoring, allowing operators to intuitively understand the current level status and enhancing system reliability and human-machine interaction. The user interface can integrate a virtual level gauge display module, where the controller converts the actual superelevation value collected by the tilt sensor and updates it in real time; alternatively, the user interface can be connected to a physical level gauge sensor, where the controller reads the sensor's signal and displays the reading digitally or graphically on the interface.

[0089] When the level gauge reading returns to zero and the actual superelevation equals the target superelevation, the controller determines that leveling is complete. This condition combines visual feedback and precise numerical matching to ensure the accuracy of leveling. The controller can be configured with a logic that considers leveling complete when the difference between the actual superelevation obtained from the tilt sensor and the target superelevation is within a very small tolerance range (e.g., ±0.1 mm) and the level gauge reading on the user interface is zero; alternatively, the controller can use a state machine model to divide the leveling process into multiple sub-states. When all sub-states (including superelevation matching and level gauge zeroing) are met, the state machine transitions to the "leveling complete" state. Finally, the controller outputs a track-raising operation completion hold signal, indicating the completion of the superelevation rail leveling phase, and notifies the system to proceed to the next phase or maintain the current state. The controller can set a Boolean flag, which is set to true when the leveling end condition is met, for subsequent steps (such as step five) to query; or, the controller can send a specific message or event to the system bus to indicate that the ultra-high-elevation rail leveling has been completed, and other modules can subscribe to the message and respond accordingly.

[0090] The proposed solution enables precise and automatic leveling of the superelevation track after the baseline track is raised. The baseline track raising completion signal serves as a clear initiation condition, avoiding premature or unnecessary intervention and ensuring the accuracy of the control timing. Real-time data acquisition, difference calculation, and closed-loop drive control give the superelevation track adjustment process high responsiveness and precision. Simultaneously, combined with level gauge reading monitoring on the user interface, it not only provides automated control but also ensures the reliability of manual monitoring, guaranteeing the accuracy and stability of the final leveling result and effectively solving the problems of delayed control response and insufficient adjustment precision in traditional solutions.

[0091] In one specific implementation, the controller can use an LPC1788 ARM chip as its core and connect to a touch-enabled human-machine interface via a serial port. Its integrated digital input module receives a reference track start completion signal, which can be a high-level pulse. When the controller detects this pulse, it immediately activates a high-speed analog input module connected to a high-precision MEMS tilt sensor, which cyclically acquires track lateral tilt data (the actual superelevation value) at a frequency of 20 times per second. The controller's internal program continuously compares the acquired actual superelevation value with the target superelevation value. If the absolute value of the difference exceeds 0.5 mm, the controller sends a PWM (Pulse Width Modulation) signal to the proportional directional valve of the superelevation rail cylinder via the digital output module, controlling the cylinder to extend or retract with micron-level precision. Simultaneously, the controller sends the real-time superelevation value to the operating interface via the serial port, and the graphical level gauge on the interface updates synchronously. When the controller detects that the difference between the actual over-elevation value and the target over-elevation value is less than 0.1 mm, and the pointer of the virtual level on the operation interface points precisely to zero, the controller will determine that the leveling process is over and output a digital signal as a track start-up operation end hold signal. At the same time, it will cut off the PWM signal of the proportional directional valve to keep the cylinder in its current position.

[0092] Through the above technical solution, this application enables precise and automated adjustment of the superelevation track level after the baseline track is raised. Using the baseline track raising completion signal as a clear trigger condition ensures that the superelevation track leveling control starts at the appropriate time, avoiding control chaos caused by premature intervention. Real-time, high-frequency tilt sensor data acquisition cycles, combined with the calculation of the difference between the actual superelevation value and the target superelevation, provide precise feedback for closed-loop control. When the difference exceeds the allowable range, the controller can promptly output a drive signal to control the superelevation track cylinder, achieving rapid and precise correction of track level. Furthermore, real-time monitoring of the level gauge reading on the operating interface not only provides an intuitive means of manual monitoring but also, combined with the actual superelevation value matching judgment, ensures the accuracy and reliability of the leveling completion determination, effectively avoiding misjudgments that may result from a single condition. Overall, this solution significantly improves the automation and accuracy of superelevation track leveling, reduces reliance on manual experience, and improves operational efficiency and final track geometry quality.

[0093] In some of the solutions mentioned above in this application, an automatic retraction and reset step is proposed to complete the hydraulic cylinder reset. However, in this process, the reset operation lacks specific control logic, such as real-time monitoring of the foot switch status, identification of retraction commands, synchronous control of the solenoid valve, and precise time-delay disconnection, which may result in the reset process being inaccurate, inefficient, or requiring manual intervention.

[0094] In response, this application further proposes that the specific control logic of the automatic retraction and reset step in step five is as follows: the controller monitors the level status of the track-starting foot switch in real time; when the track-starting foot switch is detected to change from closed to open, the controller recognizes it as a retraction command; the controller simultaneously sends energizing signals to the left track-starting cylinder retraction solenoid valve and the right track-starting cylinder retraction solenoid valve; the controller starts an internal timer while sending the energizing signal; when the count value of the timer reaches the preset retraction delay time threshold, the energizing signals of the left track-starting cylinder retraction solenoid valve and the right track-starting cylinder retraction solenoid valve are automatically disconnected.

[0095] To better understand the above technical solution, the technical features involved are explained in detail below. The controller continuously acquires the electrical signal status of the track-starting foot switch through its input interface. This level status typically refers to a high or low level, corresponding to the closed or open state of the switch, respectively. One implementation is that the controller connects to the track-starting foot switch through a digital input port and periodically reads the logic level of that port. Another implementation is that the controller configures an external interrupt pin connected to the track-starting foot switch, triggering an interrupt service routine when the level status changes. The controller determines whether a transition from closed to open has occurred by comparing the current level status of the track-starting foot switch with the level status at the previous moment. This state transition is logically interpreted by the controller as a retraction command issued by the operator, i.e., a request for the track-starting cylinder to retract. Specifically, the controller can use software polling to read the foot switch status in each control cycle and compare it with the status of the previous cycle; or, using a hardware interrupt mechanism, when a falling edge of the foot switch (from high to low, or from closed to open) is detected, an interrupt is immediately triggered, and this event is identified as a retraction command in the interrupt service routine. Upon recognizing the retraction command, the controller immediately outputs a synchronous drive signal to the solenoid valves controlling the retraction of the left and right rail lifting cylinders, energizing them. This synchronous energizing signal ensures that the lifting cylinders on both sides can begin retraction simultaneously, maintaining the overall stability of the track. One implementation is that the controller connects to a relay drive circuit through its digital output port, and the relay then controls the energizing of the solenoid valves. Another implementation is that the controller directly provides the energizing signal to the solenoid valves through a high-current drive chip. At the instant the controller sends the energizing signal to the solenoid valve, it simultaneously activates its internal timing function. This timer is used to accurately measure the duration of solenoid valve energization, thereby controlling the retraction stroke of the cylinder. Specifically, the controller can start a software timer to record time by incrementing a counter variable; or, it can utilize the hardware timer module integrated within the microcontroller, configuring its operating mode and starting the counter. The controller continuously monitors the count value of the internal timer. Once the count value reaches a preset retraction delay time threshold, the controller automatically stops sending energizing signals to the left and right rail lifting cylinder retraction solenoid valves, de-energizing them. This retraction delay time threshold is preset based on actual operational requirements and cylinder retraction speed, ensuring that the cylinders stop moving after retracting to a safe position. One implementation is that the controller triggers an interrupt when the timer reaches the threshold and closes the corresponding output port in the interrupt service routine. Another implementation is that the controller periodically checks the timer value in the main loop and performs a power-off operation when the condition is met.

[0096] This application's solution optimizes and improves the retraction process of the track-lifting cylinder in step five by introducing a refined automatic retraction and reset control logic. The core of this solution lies in the fact that the controller no longer simply responds to the tamping completion command or the pedal release signal to release the track-lifting operation end holding signal and drive the cylinder to retract. Instead, it further refines the identification mechanism of the "pedal release signal" and the control process of cylinder retraction. Specifically, the controller first continuously and in real-time monitors the level status of the track-lifting foot switch, which provides a basis for accurately capturing the operator's retraction intention. When the controller detects that the track-lifting foot switch changes from a closed state to an open state, it immediately recognizes it as a clear retraction command, thus avoiding misoperation caused by signal ambiguity or delay. Once the retraction command is recognized, the controller synchronously sends energizing signals to the left and right track-lifting cylinder retraction solenoid valves, ensuring that both cylinders begin retraction simultaneously. This is crucial for maintaining the track's balance during the reset process and avoiding unnecessary stress. Simultaneously, the controller immediately starts an internal timer to precisely measure the energizing time of the solenoid valve, thereby controlling the retraction stroke of the hydraulic cylinder. When the timer's count reaches a preset retraction delay time threshold, the controller automatically cuts off the energizing signal to the solenoid valve, causing the hydraulic cylinder to stop retracting and complete its reset. This automatic disconnection mechanism based on a time threshold ensures that the hydraulic cylinder can accurately retract to the predetermined position, avoiding problems of over-retraction or under-retraction. Through the above series of closely linked control steps, the solution of this application transforms the originally relatively coarse hydraulic cylinder reset operation into an automated, precise, and logically defined closed-loop control process, greatly improving the reliability and efficiency of the reset operation and effectively reducing reliance on human experience.

[0097] As a specific implementation method, the above technical means can be implemented with reference to the following example. The controller can be an STM32 series microcontroller, which has multiple general purpose input / output (GPIO) ports and a hardware timer module. The track-starting foot switch can be an industrial-grade normally closed foot switch, which is closed (output high level) when not pressed and open (output low level) when pressed. One GPIO port of the controller is configured as an input mode and connected to the signal output terminal of the track-starting foot switch. The controller configures the external interrupt function of this GPIO port to trigger an interrupt when a falling edge (i.e., a transition from high level to low level) is detected. When the operator releases the foot switch, the level of the GPIO port changes from high to low, triggering an interrupt. In the interrupt service routine, the controller recognizes this event as a retraction instruction. Subsequently, the controller connects to two relay modules through the other two GPIO ports, which in turn control the on / off state of the left track-starting cylinder retraction solenoid valve and the right track-starting cylinder retraction solenoid valve, respectively. Upon receiving the retraction command, the controller immediately sets both GPIO ports high, energizing the relays and sending power signals to the two solenoid valves. Simultaneously, the controller starts an internal hardware timer (e.g., TIM2) and configures it to count upwards. This timer starts counting with microsecond precision. The preset retraction delay threshold can be set experimentally or empirically, for example, to 5 seconds, based on the actual cylinder retraction speed and required stroke. The controller continuously monitors the TIM2 count; when the count reaches the value corresponding to 5 seconds, it triggers a timer interrupt. In the timer interrupt service routine, the controller sets the two GPIO ports controlling the solenoid valves low, disengaging the relays and automatically cutting off the power signals to the left and right rail-starting cylinder retraction solenoid valves, thus completing the automatic cylinder reset.

[0098] Through the above technical solution, this application effectively solves the problems of unclear control logic, low efficiency, and strong reliance on manual intervention in traditional reset operations. The controller, by monitoring the level of the track-starting foot switch in real time, can accurately capture the operator's retraction intention, avoiding misoperations caused by manual judgment or ambiguous signals. When the foot switch is detected to change from closed to open, the controller can quickly identify it as a retraction command, ensuring timely system response. Simultaneously, the controller synchronously sends energizing signals to the retraction solenoid valves of the track-starting cylinders on both sides, ensuring synchronous retraction of the cylinders, effectively maintaining the balance of the track during the reset process, and preventing track deformation or equipment damage that may be caused by asynchronous retraction. Furthermore, the controller starts an internal timer while sending the energizing signal and automatically disconnects the energizing signal of the solenoid valves according to a preset retraction delay time threshold, achieving precise control of the cylinder retraction stroke, avoiding over-retraction or under-retraction, thereby improving the accuracy and safety of the reset operation. Overall, the solution proposed in this application transforms the cylinder reset process from manual experience-based operation to automated and programmed precise control, significantly reducing the labor intensity of operators, improving work efficiency, and ensuring the quality and reliability of the reset operation, thereby further enhancing the intelligence level of the automatic control method for railway track lifting devices.

[0099] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

[0100] Example 2 This embodiment is constructed based on Embodiment 1, and the similarities with Embodiment 1 will not be repeated here. Figure 3 As shown: In this embodiment, an automatic control system for a railway track lifting device based on a state feedback closed loop includes: The generation module is used by the controller to receive the line curve parameters and set track lifting amount input by the user, combine them with the real-time collected sensor data, calculate the theoretical superelevation value of the current work point, and generate a work target instruction that includes the target track lifting amount and the target superelevation amount. The first processing module is used by the controller to respond to the track lifting start signal, read the operation target instruction, and simultaneously drive the left and right track lifting cylinders to extend; during the extension process, the controller collects the pressure values ​​of the left and right cylinders in real time; when the pressure values ​​of both cylinders reach the preset oil pressure setting value, it is determined that the cylinder rod end has been tightened against the ballast, and the controller generates a pre-tightening signal and transmits it to the next step; The second processing module is used to lock the state of the cylinder on one side of the ultra-high-speed rail after the controller receives the pre-tensioning signal, and drive the lifting cylinder on the side of the reference rail to continue to extend; during the extension process, the controller monitors the actual lifting amount of the reference rail in real time and compares the actual lifting amount with the target lifting amount in the operation target instruction; when the actual lifting amount reaches the target lifting amount, the controller cuts off the control signal of the cylinder on the side of the reference rail to keep it in a pressure holding state, and generates a reference lifting completion signal to be transmitted to the next step; The third processing module is used to drive the lifting cylinder on one side of the superelevation rail to extend after the controller receives the reference lifting completion signal; during the extension process, the controller collects the actual superelevation value fed back by the tilt sensor in real time and compares the actual superelevation value with the target superelevation amount in the operation target instruction; when the actual superelevation value is consistent with the target superelevation amount, the controller cuts off the control signal of the cylinder on the side of the superelevation rail to put it in the pressure holding state and generates a lifting operation end holding signal; The reset module is used by the controller to drive the left and right track lifting cylinders to retract synchronously in response to the release of the track lifting operation end holding signal after receiving the tamping completion command or the pedal release signal, and to stop driving after reaching the preset delay time to complete the reset.

[0101] Example 3 Figure 4 This is a schematic diagram of the electronic device structure provided in one embodiment of this application, as shown below. Figure 4 As shown, according to another aspect of this application, an electronic device 500 is also provided. The electronic device 500 may include one or more processors and one or more memories, wherein the memory stores computer-readable code, which, when run by one or more processors, can execute the automatic control method for railway track lifting devices based on state feedback closed loop as described above.

[0102] The method or system according to the embodiments of this application can also be used by means of Figure 4 The architecture of the electronic device shown is used to achieve, for example Figure 4As shown, the electronic device 500 may include a bus 501, one or more CPUs 502, a read-only memory (ROM) 503, a random access memory (RAM) 504, a communication port 505 connected to a network, an input / output component 506, a hard disk 507, and other storage devices within the electronic device 500. For example, the ROM 503 or the hard disk 507 may store the following steps provided in this application: The controller receives the line curve parameters and set track starting amount input by the user, combines them with the real-time acquired sensor data, calculates the theoretical superelevation value of the current working point, and generates a packet. The system includes a target lifting volume and a target superelevation volume operation command; Step 2: The controller responds to the lifting start signal, reads the operation target command, and simultaneously drives the left and right lifting cylinders to extend; During the extension process, the controller collects the pressure values ​​of the left and right cylinders in real time; When the pressure values ​​of both cylinders reach the preset hydraulic pressure setting value, it is determined that the cylinder rod ends have tightened against the ballast, and the controller generates a pre-tightening signal and transmits it to the next step; Step 3: After receiving the pre-tightening signal, the controller locks the cylinder status on one side of the superelevation rail. The controller drives the lifting cylinder on one side of the reference rail to continue extending. During the extension process, the controller monitors the actual lifting amount of the reference rail in real time and compares the actual lifting amount with the target lifting amount in the operation target instruction. When the actual lifting amount reaches the target lifting amount, the controller cuts off the control signal of the cylinder on the reference rail side to keep it in a pressure-holding state and generates a reference lifting completion signal to be transmitted to the next step. Step 4: After receiving the reference lifting completion signal, the controller drives the lifting cylinder on one side of the superelevation rail to extend. During the extension process, the controller monitors the actual lifting amount of the reference rail in real time. The controller collects the actual superelevation value fed back by the tilt sensor and compares the actual superelevation value with the target superelevation amount in the operation target command; when the actual superelevation value matches the target superelevation amount, the controller cuts off the control signal of the hydraulic cylinder on one side of the superelevation rail to keep it in a pressure holding state, generating a track lifting operation end holding signal; Step 5: After receiving the tamping completion command or the pedal release signal, in response to the release of the track lifting operation end holding signal, the controller drives the left and right track lifting hydraulic cylinders to retract synchronously, and stops driving after reaching the preset delay time, completing the reset. Further, the electronic device 500 may also include a user interface 508. Figure 4 The architecture shown is merely exemplary and can be omitted as needed when implementing different devices. Figure 4 One or more components in the illustrated electronic device.

[0103] Example 4 Figure 5 This is a schematic diagram of a computer-readable storage medium structure provided in one embodiment of this application, as shown below. Figure 5The diagram shows a computer-readable storage medium 600 according to one embodiment of this application. The computer-readable storage medium 600 stores computer-readable instructions. When the computer-readable instructions are executed by a processor, they can perform the automatic control method for a railway track-starting device based on a state feedback closed loop according to an embodiment of this application, as described with reference to the above figures. The storage medium 600 includes, but is not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and cache memory, etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc.

[0104] Furthermore, according to the embodiments of this application, the process described in the above-mentioned flowchart can be implemented as a computer software program. For example, this application provides a non-transitory machine-readable storage medium storing machine-readable instructions that can be executed by a processor to perform instructions corresponding to the method steps provided in this application. For example: Step 1: The controller receives the track curve parameters and set track lifting amount input by the user, combines the real-time collected sensor data, calculates the theoretical superelevation value of the current working point, and generates a work target instruction containing the target track lifting amount and the target superelevation amount; Step 2: In response to the track lifting start signal, the controller reads the work target instruction and simultaneously drives the left and right track lifting cylinders to extend; during the extension process, the controller collects the pressure values ​​of the left and right cylinders in real time; when the pressure values ​​of both cylinders reach the preset hydraulic pressure setting value, it is determined that the cylinder rod end has tightened the ballast, and the controller generates a pre-tightening signal and transmits it to the next step; Step 3: After receiving the pre-tightening signal, the controller locks the cylinder state on one side of the superelevation rail, and Step 4: After receiving the reference rail lifting cylinder, the controller continues to extend the lifting cylinder on one side of the reference rail. During the extension process, the controller monitors the actual lifting amount of the reference rail in real time and compares the actual lifting amount with the target lifting amount in the operation target instruction. When the actual lifting amount reaches the target lifting amount, the controller cuts off the control signal of the cylinder on the reference rail side to keep it in a pressure holding state and generates a reference lifting completion signal to be transmitted to the next step. Step 5: After receiving the reference lifting completion signal, the controller drives the lifting cylinder on the superelevation rail side to extend. During the extension process, the controller collects the actual superelevation value fed back by the tilt sensor in real time and compares the actual superelevation value with the target superelevation amount in the operation target instruction. When the actual superelevation value is consistent with the target superelevation amount, the controller cuts off the control signal of the cylinder on the superelevation rail side to keep it in a pressure holding state and generates a lifting operation end holding signal. Step 6: After receiving the tamping completion instruction or the pedal release signal, the controller responds to the release of the lifting operation end holding signal by driving the left and right lifting cylinders to retract synchronously and stops driving after reaching the preset delay time, completing the reset. When the computer program is executed by the central processing unit (CPU), it performs the functions defined in the method of this application.

[0105] The methods and apparatus of this application may be implemented in many ways. For example, the methods and apparatus of this application may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the method is for illustrative purposes only, and the steps of the method of this application are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, this application may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the method according to this application. Thus, this application also covers recording media storing programs for executing the method according to this application.

[0106] In addition, the parts of the technical solutions provided in the embodiments of this application that are consistent with the implementation principles of the corresponding technical solutions in the prior art have not been described in detail, so as to avoid excessive elaboration.

[0107] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic control method for railway track lifting devices based on state feedback closed loop, characterized in that, The method is applied to a control system including a controller, a lifting cylinder, a hydraulic pressure sensor, a tilt sensor, a foot switch, and a human-machine interface. The method includes the following steps: Step 1: The controller receives the line curve parameters and set track lifting amount input by the user, combines them with the real-time sensor data, calculates the theoretical superelevation value of the current work point, and generates a work target instruction that includes the target track lifting amount and the target superelevation amount. Step 2: The controller responds to the track lifting start signal, reads the work target command, and simultaneously drives the left and right track lifting cylinders to extend. During the extension process, the controller collects the pressure values ​​of the left and right cylinders in real time. When the pressure values ​​of both cylinders reach the preset hydraulic pressure setting value, it is determined that the cylinder rod ends have been tightened against the ballast. The controller generates a pre-tightening signal and transmits it to the next step. Step 3: After receiving the pre-tensioning signal, the controller locks the state of the cylinder on one side of the ultra-high track and drives the lifting cylinder on the side of the reference track to continue extending. During the extension process, the controller collects the longitudinal tilt angle change value fed back by the tilt angle sensor in real time. Based on the preset robotic arm length parameters of the lifting device, the controller calculates the lateral tilt angle change value into the actual lifting amount and compares the actual lifting amount with the target lifting amount in the operation target instruction. When the actual lifting amount reaches the target lifting amount, the controller cuts off the control signal of the cylinder on the side of the reference track to keep it in a pressure holding state and generates a reference lifting completion signal to be transmitted to the next step. Step 4: After receiving the baseline track lifting completion signal, the controller drives the track lifting cylinder on one side of the superelevation rail to extend; during the extension process, the controller collects the actual superelevation value fed back by the tilt sensor in real time and compares the actual superelevation value with the target superelevation amount in the operation target instruction; when the actual superelevation value is consistent with the target superelevation amount, the controller cuts off the control signal of the cylinder on the superelevation rail side to put it in the pressure holding state, and generates a track lifting operation completion holding signal; Step 5: After receiving the tamping completion command or the pedal release signal, the controller responds to the release of the track lifting operation end holding signal by driving the left and right track lifting cylinders to retract synchronously, and stops driving after reaching the preset delay time, thus completing the reset.

2. The method according to claim 1, characterized in that, Before step one, the following steps are also included: mileage synchronization and parameter initialization: the controller receives the synchronization point kilometer value input by the user through the human-machine interface; when the auxiliary wheel of the track-starting device reaches the synchronization point position on the physical line, the controller responds to the synchronization button signal triggered by the user and locks the current physical position as the starting point for line calculation; the controller automatically calculates the line geometry state of the current work point based on the line curve parameters and the current physical position, including straight line, transition curve or circular curve state, and inputs this state as the basic data for generating the work target instruction into step one.

3. The method according to claim 1, characterized in that, In step one, the process of generating the work target instruction also includes manual compensation correction logic: the controller detects the rotation angle signal of the superelevation compensation knob in real time and converts the rotation angle signal into a superelevation compensation value; the controller superimposes the superelevation compensation value with the theoretical superelevation value calculated based on the track curve parameters to obtain the corrected target superelevation amount; the controller updates the corrected target superelevation amount into the work target instruction as a comparison benchmark for the superelevation track horizontal following control in step four.

4. The method according to claim 1, characterized in that, In step two, the logic for generating the pre-tightening signal specifically includes: the controller executing the left-side pressure monitoring subroutine and the right-side pressure monitoring subroutine in parallel; the left-side pressure monitoring subroutine determines if the pressure value of the left cylinder is greater than or equal to the set pressure value, then illuminates the left top positioning indicator on the interface and marks the left side as ready; the right-side pressure monitoring subroutine determines if the pressure value of the right cylinder is greater than or equal to the set pressure value, then illuminates the right top positioning indicator on the interface and marks the right side as ready; the controller performs a logical AND operation, and only outputs the pre-tightening signal when both the left and right sides are simultaneously marked as ready, thereby triggering the execution of step three.

5. The method according to claim 1, characterized in that, In step three, the determination and control logic of the reference rail is as follows: the controller reads the superelevation direction data in the track curve parameters and identifies whether the superelevation rail is the left or right rail; the controller sets the rail opposite to the superelevation rail as the reference rail; after receiving the pre-tightening signal, the controller only sends an opening signal to the hydraulic cylinder solenoid valve on the reference rail side, while keeping the hydraulic cylinder solenoid valve on the superelevation rail side in the closed state until the reference track lifting completion signal is generated.

6. The method according to claim 1, characterized in that, In step four, the specific execution process of the ultra-high track horizontal following control step is as follows: the controller starts the tilt sensor data acquisition cycle with the reference track lifting completion signal as the trigger condition; the controller calculates the difference between the actual superelevation value and the target superelevation amount. If the difference exceeds the allowable range, the controller outputs a drive signal to control the ultra-high track cylinder to move; the controller monitors the level gauge reading on the operation interface in real time. When the level gauge reading returns to zero and the actual superelevation value is equal to the target superelevation amount, the controller determines that the leveling is completed and outputs the track lifting operation completion hold signal.

7. The method according to claim 1, characterized in that, In step five, the specific control logic of the automatic retraction and reset step is as follows: the controller monitors the level status of the track-starting foot switch in real time; when the track-starting foot switch is detected to change from closed to open, the controller recognizes it as a retraction command; the controller simultaneously sends energizing signals to the left track-starting cylinder retraction solenoid valve and the right track-starting cylinder retraction solenoid valve; while sending the energizing signal, the controller starts an internal timer, and when the count value of the timer reaches the preset retraction delay time threshold, the energizing signals of the left track-starting cylinder retraction solenoid valve and the right track-starting cylinder retraction solenoid valve are automatically disconnected.

8. An automatic control system for a railway track lifting device based on state feedback closed loop, the system being used to execute the method described in any one of claims 1 to 8, characterized in that, The generation module is used by the controller to receive the line curve parameters and set track lifting amount input by the user, combine them with the real-time collected sensor data, calculate the theoretical superelevation value of the current work point, and generate a work target instruction that includes the target track lifting amount and the target superelevation amount. The first processing module is used by the controller to respond to the track lifting start signal, read the operation target instruction, and simultaneously drive the left and right track lifting cylinders to extend; during the extension process, the controller collects the pressure values ​​of the left and right cylinders in real time; when the pressure values ​​of both cylinders reach the preset oil pressure setting value, it is determined that the cylinder rod end has been tightened against the ballast, and the controller generates a pre-tightening signal and transmits it to the next step; The second processing module is used to lock the state of the cylinder on one side of the ultra-high track after the controller receives the pre-tensioning signal, and drive the lifting cylinder on the side of the reference track to continue to extend. During the extension process, the controller collects the lateral tilt angle change value fed back by the tilt angle sensor in real time, calculates the lateral tilt angle change value into the actual lifting amount based on the preset robotic arm length parameters of the lifting device, and compares the actual lifting amount with the target lifting amount in the operation target instruction. When the actual lifting amount reaches the target lifting amount, the controller cuts off the control signal of the cylinder on the side of the reference track to keep it in a pressure holding state, and generates a reference lifting completion signal to be transmitted to the next step. The third processing module is used to drive the lifting cylinder on one side of the ultra-high track to extend after the controller receives the reference track lifting completion signal. During the extension process, the controller collects the actual superelevation value fed back by the tilt sensor in real time and compares the actual superelevation value with the target superelevation amount in the operation target instruction; when the actual superelevation value is consistent with the target superelevation amount, the controller cuts off the control signal of the hydraulic cylinder on one side of the superelevation rail to put it in the pressure holding state and generates a track lifting operation end holding signal. The reset module is used by the controller to drive the left and right track lifting cylinders to retract synchronously in response to the release of the track lifting operation end holding signal after receiving the tamping completion command or the pedal release signal, and to stop driving after reaching the preset delay time to complete the reset.

9. An electronic device, characterized in that, It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the automatic control method for a railway track lifting device based on a state feedback closed loop as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program adapted for loading by a processor to perform the steps of the automatic control method for a railway track-lifting device based on a state feedback closed loop as described in any one of claims 1-7.

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