Rail grinding system and method for a rail rapid grinder

Abstract

This invention discloses a rail grinding system and method for a rapid rail grinding vehicle, belonging to the field of rail maintenance equipment control technology. The system includes a grinding control module and a winding subsystem, a pressure loading subsystem, a travel coordination subsystem, a host computer interaction subsystem, and a remote control subsystem, all communicatively connected to the grinding control module. This invention achieves high-precision, highly disturbance-resistant decoupled control of the abrasive belt speed and tension by integrating fuzzy adaptive LQR control with a Luneburger observer, effectively suppressing the influence of winding diameter changes and external disturbances. The pressure loading system employs a self-disturbance-resistant fuzzy variable impedance algorithm to dynamically compensate for pressure fluctuations caused by rail irregularities, ensuring constant force grinding and significantly improving the consistency of the grinding profile and surface quality. It features both host computer and remote control operation modes, exhibiting a high degree of intelligence. This invention solves the industry problems of low operating efficiency, over-cutting, or under-grinding of existing grinding vehicles, achieving efficient, high-quality, and rapid rail grinding and maintenance.

Description

Technical Field

[0001] This invention relates to the field of rail maintenance equipment control technology, specifically to a rail grinding system and method for a rapid rail grinding vehicle. Background Technology

[0002] As the main artery of the national economy, the safe and stable operation of railways is of paramount importance. After enduring complex loads such as wheel hub impact, friction, and corrosion over a long period of time, steel rails inevitably suffer from various damages such as corrugation, cracks, peeling, and pitting. These defects not only exacerbate train vibration and noise, affecting passenger comfort, but also significantly shorten the service life of the rails and vehicle running gear, and even threaten traffic safety.

[0003] To repair and prevent rail damage, rail grinding technology has become an indispensable core method for railway maintenance. Busy railway operations allow for very short "windows" for rail maintenance. The continuous increase in the operational mileage of rail transit and the widespread adoption of preventative grinding strategies have placed increasingly higher demands on the operating speed and efficiency of rail grinding equipment. Open belt grinding, where the abrasive belt is slowly replaced while the grinding carriage travels at high speed, perfectly suits the processing characteristics of rails as "straight workpieces." It possesses natural advantages such as high speed, high efficiency, and excellent removal of corrugations, making it an ideal choice for implementing a "small batch, multiple times" preventative grinding strategy.

[0004] Currently, the operating speed of the main rail grinding equipment is generally low, usually below 15km / h. Internationally, only the passive grinding wheel type high-speed rail grinding train developed by Germany, also known as the rapid grinding train, has been put into practical use in Europe and my country. However, it has problems such as not being able to achieve grinding and repair of the entire profile of the rail head.

[0005] To address the aforementioned issues, there is an urgent need for a rail grinding system and method for rapid rail grinding vehicles, which can solve the problems existing in traditional methods and realize rail grinding. Summary of the Invention

[0006] The purpose of this invention is to provide a rail grinding system and method for a rapid rail grinding vehicle, which solves the problems of low operating speed of existing rail grinding vehicles and the inability of rapid grinding vehicles to grind and repair the full cross-sectional profile of the rail head.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A rail grinding system for a rapid rail grinding vehicle includes: a grinding control module and a winding subsystem, a pressure loading subsystem, a travel coordination subsystem, a host computer interaction subsystem, and a remote control subsystem that are communicatively connected to the grinding control module; The host computer interaction subsystem is used to send control commands to the grinding control module; The grinding control module is used to receive control commands from the host computer interaction subsystem, initialize the states of the winding subsystem, pressure loading subsystem, and travel coordination subsystem, and send control commands to the winding subsystem, pressure loading subsystem, and travel coordination subsystem. The grinding control module includes a winding control unit and a pressure control unit. The winding control unit is used to estimate the sanding belt tension and system disturbance in real time based on the state space model of the winding subsystem, using a Luneburger observer, and according to the sanding belt speed and motor current signals collected by the speed wheel encoder, so as to achieve speed-tension coordination. The pressure control unit is used to estimate the grinding pressure disturbance online according to the deviation between the target grinding pressure and the actual grinding pressure, output the disturbance compensation signal, and maintain constant force grinding. The winding subsystem is used to enable bidirectional renewal of the open sand belt; The pressure loading subsystem is used to apply and regulate the grinding pressure; The traveling coordination subsystem is used to drive the grinding car to move along the rails; The remote control subsystem is used to remotely control the winding subsystem, the pressure loading subsystem, and the travel coordination subsystem.

[0008] Furthermore, the pressure control unit includes an inner-loop fuzzy variable impedance controller and an outer-loop self-disturbance rejection grinding controller. The inner-loop fuzzy variable impedance controller is used to estimate the grinding pressure disturbance online based on the target grinding pressure and the actual grinding pressure, and output a disturbance compensation signal. The outer-loop self-disturbance rejection grinding controller is used to take the disturbance compensation signal as the input of the impedance model, establish the relationship between the extension and retraction displacement of the servo electric cylinder and the grinding pressure, output a force correction amount to compensate for the grinding pressure deviation, and at the same time, fuzzy control corrects the impedance parameters in real time, and optimizes the output by combining the force feedback of environmental stiffness compensation.

[0009] Furthermore, the host computer sub-interaction module includes: The communication module is used to search for and connect to the serial ports of various modules and the system to achieve bidirectional data transmission. The parameter setting module is used to set relevant parameters; The control module is used to issue relevant instructions; The monitoring module is used to display relevant information in real time; The data processing module is used to store relevant data.

[0010] Furthermore, the remote control subsystem includes: The travel control keys are used to control forward, backward, stop, and fine-tuning of speed; The grinding control key is used to start and stop the grinding unit and control the sanding belt reversal. The pressure fine-tuning key is used to adjust the polishing pressure; The emergency stop button is used to trigger the braking device of the traveling module and the grinding unit to stop urgently; Status indicator lights are used to show the operating status of the grinding machine.

[0011] This invention also provides a rail grinding method for a rapid rail grinding vehicle, applied to the aforementioned rail grinding system for a rapid rail grinding vehicle, comprising: Step 1: The host computer interaction subsystem sends control commands to the grinding control module, and the grinding control module initializes the status of the winding subsystem, pressure loading subsystem, and travel coordination subsystem; Step 2: The grinding control module controls the DC brushless motor of the unwinding pulley of the winding subsystem to apply the initial braking torque so that the tension of the sanding belt reaches the minimum tension that does not loosen. Step 3: The grinding control module, based on the state-space model of the winding subsystem, uses a Luneburger observer to estimate the belt tension and system disturbance in real time according to the belt speed and motor current signals collected by the speed wheel encoder. Step 4: Input the deviation and deviation rate between the actual belt tension and the desired tension into the fuzzy inference system, and output the scaling factor of the weight coefficient of the corresponding tension state variable in the state weighting matrix of the linear quadratic regulator controller online according to the preset fuzzy rules. Step 5: The linear quadratic regulator controller uses the belt speed deviation and tension deviation as state variables, and combines the dynamically adjusted state weighting matrix to solve the Riccati equation, calculate the optimal control quantity - current, and input it to the DC brushless motor of the take-up pulley. When the unwind pulley diameter is close to the shaft radius, the take-up and unwind pulley roles are switched to realize bidirectional update of the belt. Step 6: The grinding control module receives the target grinding pressure and controls the servo electric cylinder to slowly press down, while the three-dimensional force sensor collects the actual grinding pressure in real time. Step 7: The grinding control module estimates the grinding pressure disturbance online based on the deviation between the target grinding pressure and the actual grinding pressure, and outputs a disturbance compensation signal; Step 8: The grinding control module takes the disturbance compensation signal as input, establishes the mapping relationship between the extension and retraction displacement of the servo electric cylinder and the pressure, and outputs the force correction amount to compensate for the grinding pressure deviation. At the same time, it dynamically adjusts the impedance parameters according to the contact stiffness between the rail and the sanding belt to optimize the pressure output.

[0012] Furthermore, in step 4, the preset fuzzy rules are specifically as follows: The Mamdani algorithm is used for fuzzy inference. The triangular membership function is used to establish fuzzy subsets of seven languages: negative small, negative medium, negative large, zero, positive small, positive medium, and positive large {NB, NM, NS, ZO, PS, PM, PB}. When the tension deviation is large (positive or negative), increase the scaling factor value. When the tension deviation is small and the rate of change of the deviation is large (positive or negative), maintain the scaling factor value. When the system tends to stabilize, reduce the scaling factor value.

[0013] Furthermore, in step 5, the linear quadratic regulator controller outputs the optimal control quantity by minimizing the quadratic performance index.

[0014] Furthermore, the method also includes: Step 9: The host computer interactive subsystem receives and displays the sanding belt speed, tension, grinding pressure, and motor status in real time. The control module stores the experimental data at a certain frequency. If a motor failure or pressure exceeding the threshold occurs, an alarm is immediately triggered, and the rail grinding system stops working.

[0015] In summary, the present invention has at least one of the following beneficial technical effects: 1. By adopting the fuzzy adaptive LQR observer coordinated control algorithm, the problem of strong coupling between the sanding belt update speed and tension is effectively solved. It can dynamically adjust the control parameters according to the real-time status of the system, overcome the problem of the control performance degradation of the fixed parameter LQR controller under working conditions such as time-varying roll diameter and external disturbances, and realize precise and stable control of sanding belt speed and tension.

[0016] 2. Using a Luneburg observer to achieve closed-loop control of a tensionless sensor not only reduces the system hardware cost and complexity, but also avoids the problem of sensor susceptibility to interference in harsh environments, thus improving the system's reliability and adaptability.

[0017] 3. The self-disturbing fuzzy variable impedance compliant control algorithm can effectively suppress sudden changes in grinding pressure caused by rail corrugation and unevenness, prevent "overcutting" or insufficient grinding caused by contact force overshoot, and ensure constant force grinding under complex working conditions, which greatly improves the uniformity and consistency of the grinding surface.

[0018] 4. Through the collaborative design of the host computer interaction subsystem and the remote control subsystem, flexible setting of grinding parameters, real-time status monitoring, fault diagnosis and remote control are realized, which improves the intelligence level and ease of operation of the entire grinding system. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the method flow of the present invention; Figure 2 This is a schematic diagram of the principle of a fuzzy adaptive LQR controller. Figure 3 This is a schematic diagram of the principle of a fuzzy variable impedance controller based on active disturbance rejection; Figure 4 This is a diagram showing the overall architecture of the rail grinding system. Figure 5 This is a schematic diagram of the winding subsystem and the pressure loading subsystem.

[0020] Figure 6a This is a schematic diagram of the abrasive belt renewal speed curve during positive grinding with external disturbance; Figure 6b This is a schematic diagram of the unwinding tension curve during forward grinding with external disturbance. Figure 7a This is a schematic diagram of the abrasive belt renewal speed curve during reverse grinding with external disturbance; Figure 7b This is a schematic diagram of the unwinding tension curve during reverse grinding with external disturbance; Figure 8a This is a schematic diagram of the grinding pressure versus operating speed curves for the first group of grinding experiments. Figure 8b This is a schematic diagram showing the grinding pressure and operating speed in the second group of grinding experiments; Figure 8c This is a schematic diagram showing the grinding pressure and operating speed in the third group of grinding experiments; Figure 8d This is a schematic diagram showing the grinding pressure and operating speed in the fourth group of grinding experiments; Figure 8e This is a schematic diagram showing the grinding pressure and operating speed in the fifth grinding experiment. Figure 8f This is a schematic diagram showing the grinding pressure and operating speed in the sixth grinding experiment.

[0021] Attached reference numerals: 1. Unloading pulley; 2. Taking-up pulley; 3. DC brushless motor; 4. Servo electric cylinder; 5. Speed ​​measuring wheel encoder; 6. Pressure grinding plate. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] like Figure 4 As shown, the present invention provides a rail grinding system for a rapid rail grinding vehicle, comprising: a grinding control module and a winding subsystem, a pressure loading subsystem, a travel coordination subsystem, a host computer interaction subsystem, and a remote control subsystem that are communicatively connected to the grinding control module; The host computer interaction subsystem is used to send control commands to the grinding control module; The grinding control module is used to receive control commands from the host computer interaction subsystem, initialize the states of the winding subsystem, pressure loading subsystem, and travel coordination subsystem, and send control commands to the winding subsystem, pressure loading subsystem, and travel coordination subsystem. The grinding control module includes a winding control unit and a pressure control unit. The winding control unit is used to estimate the sanding belt tension and system disturbance in real time based on the state space model of the winding subsystem, using a Luneburger observer, and according to the sanding belt speed and motor current signals collected by the speed measuring wheel encoder 5, so as to achieve speed-tension coordination. The pressure control unit is used to estimate the grinding pressure disturbance online according to the deviation between the target grinding pressure and the actual grinding pressure, output the disturbance compensation signal, and maintain constant force grinding. The winding subsystem is used to enable bidirectional renewal of the open sand belt; The pressure loading subsystem is used to apply and regulate the grinding pressure; The traveling coordination subsystem is used to drive the grinding car to move along the rails; The remote control subsystem is used to remotely control the winding subsystem, the pressure loading subsystem, and the travel coordination subsystem.

[0024] like Figure 3 As shown, the pressure control unit includes an inner-loop fuzzy variable impedance controller and an outer-loop self-disturbance rejection grinding controller. The inner-loop fuzzy variable impedance controller is used to estimate the grinding pressure disturbance online based on the target grinding pressure and the actual grinding pressure, and outputs a disturbance compensation signal. The outer-loop self-disturbance rejection grinding controller is used to take the disturbance compensation signal as the input of the impedance model, establish the relationship between the extension and retraction displacement of the servo electric cylinder 4 and the grinding pressure, output a force correction amount to compensate for the grinding pressure deviation, and at the same time, the fuzzy control corrects the impedance parameters in real time, and optimizes the output by combining the force feedback of environmental stiffness compensation.

[0025] The host computer interaction module includes: The communication module is used to search for and connect to the serial port of the control module to achieve bidirectional data transmission; The parameter setting module is used to set the desired belt refresh rate, target grinding pressure, and travel speed. The control module is used to issue commands for starting and stopping the grinding unit, starting and stopping the travel module, and changing the direction of the sanding belt; The monitoring module is used to display the belt speed and tension curves, grinding pressure curves, and motor fault status in real time. The data processing module is used to store experimental data such as time, speed, and pressure, and supports data export and report generation.

[0026] The remote control subsystem includes: The travel control keys are used to control forward, backward, stop, and fine-tuning of speed; The grinding control key is used to start and stop the grinding unit and control the sanding belt reversal. The pressure fine-tuning key is used to adjust the polishing pressure; The emergency stop button is used to trigger the braking device of the traveling module and the grinding unit to stop urgently; Status indicator lights are used to show the operating status of the grinding machine.

[0027] The winding subsystem, used to achieve bidirectional renewal of the open abrasive belt, includes a take-up pulley 2, a release pulley 1, a DC brushless motor 3, and a speed measuring wheel encoder 5, the specific positions of which are as follows: Figure 5 As shown, the winding subsystem is also equipped with a tension observer, which collects the real-time update speed of the sand belt through the speed measuring wheel encoder 5, and estimates the tension of the sand belt based on the state space model of the winding system through the tension observer. The pressure loading subsystem includes a servo electric cylinder 4 and a pressure grinding plate 6, whose positions are as follows: Figure 5 As shown, in addition, a three-dimensional force sensor is set between the servo electric cylinder 4 and the grinding plate 6 to collect the actual grinding pressure of the sanding belt on the rail. The working surface of the grinding plate 6 is a concave shape that matches the top of the rail and fits the sanding belt to transmit the grinding pressure. The traveling coordination subsystem includes a dual-axis chain transmission mechanism, a drive motor, and a braking device, which is used to drive the grinding car to move along the rail. It receives the traveling commands from the grinding control module to realize the start, stop, and speed adjustment of the grinding car.

[0028] like Figure 1 As shown, the present invention also provides a rail grinding method for a rapid rail grinding vehicle, applied to the aforementioned rail grinding system for a rapid rail grinding vehicle, comprising: Step 1: The host computer interaction subsystem establishes a serial port connection through the QT interface and sends the desired update speed of the sanding belt. Target polishing pressure The system can input travel speed commands; or input fine-tuning parameters and travel start / stop commands via the remote control subsystem; after receiving the commands, the grinding control module initializes the states of the winding subsystem, pressure loading subsystem, and travel coordination subsystem; Step 2: The winding control unit controls the brushless DC motor 3 of the unwinding pulley 1 to apply an initial braking torque, so that the tension of the sanding belt reaches the minimum tension that will not slack. ; Step 3: Based on the state-space model of the winding system, the winding control unit uses a Luenberger observer to estimate the belt tension and system disturbance in real time according to the belt speed and motor current signals collected by the speed measuring wheel encoder 5. Step 4: Based on the actual tension of the abrasive belt and expectation tension The deviation and its deviation rate are input into the fuzzy inference system, which, according to preset fuzzy rules, outputs online a weighted matrix of the state of the linear quadratic regulator (LQR) controller. Scaling factor for the weighting coefficients of the corresponding tension state variable ; Step 5: The LQR controller uses the belt speed deviation and tension deviation as state variables, combined with the dynamically adjusted state weighting matrix. Solve the Riccati equation, calculate the optimal control quantity - current and input it to the brushless DC motor 3 of the take-up pulley 2. When the diameter of the unwind pulley 1 is close to the radius of the shaft, switch the roles of the take-up and unwind pulley 1 to realize bidirectional update of the sanding belt. Step 6: The pressure control unit receives the target grinding pressure. The servo electric cylinder 4 is controlled to slowly press downwards, and the three-dimensional force sensor collects the actual pressure in real time. The data is transmitted to the grinding control module. Step 7: Self-disruptive grinding controller according to With actual grinding pressure The deviation is estimated online to detect grinding pressure disturbance and output a disturbance compensation signal. Step 8: The fuzzy variable impedance controller uses the disturbance compensation signal as input to establish a mapping relationship between the extension and retraction displacement of the servo electric cylinder 4 and the pressure, and outputs a force correction amount to compensate for the grinding pressure deviation; at the same time, it dynamically adjusts the impedance parameters according to the contact stiffness between the rail and the abrasive belt to optimize the pressure output and ensure the actual grinding pressure. Maintain stability within the required range, avoiding over-cutting or under-polishing.

[0029] like Figure 2 As shown, in step 3, the Luneburger observer is configured with its poles to make its dynamic response speed significantly faster than that of the LQR controller. This ensures that the observer can provide accurate and timely tension estimates and disturbance feedforward signals to the LQR controller and fuzzy adaptive mechanism, compensate for the effects of roll diameter changes and rail irregularities on the winding system, and keep the steady-state error of the sand belt speed and the amplitude of tension fluctuations within a certain range.

[0030] In step 4, the preset fuzzy rules are as follows: When the tension deviation is large (positive or negative), the output is larger. The value is increased to significantly enhance the weight of LQR in tension control and accelerate system response; When the tension deviation is small but the rate of change of the deviation is large (positive or negative), the output is moderate. The value is adjusted to increase system damping and suppress overshoot and oscillation. When the system stabilizes, the output is relatively small. Values ​​are adjusted to achieve smooth control and reduce energy consumption.

[0031] In step 5, the LQR controller minimizes the quadratic performance index. The optimal control quantity is output, where, To control the weighting matrix, x ( t ) represents the system's state variables. u ( t (This is the system's input).

[0032] The method further includes: Step 9: The host computer interaction subsystem receives and displays the sanding belt speed, tension, grinding pressure, and motor status in real time. The control module stores the experimental data at a certain frequency. If a motor failure or pressure exceeding the threshold occurs, an alarm is immediately triggered, and the rail grinding system stops working. Step 10: After the grinding car reaches the designated grinding endpoint, the grinding control module first shuts down the pressure loading subsystem, the servo electric cylinder 4 slowly lifts up, then shuts down the winding subsystem, the sanding belt stops updating, then the grinding car stops moving, and finally controls the travel coordination subsystem to return to the initial position. Step 11: If communication with the host computer's interactive subsystem is interrupted during the grinding process, the sanding belt speed and grinding pressure can be finely adjusted via the remote control subsystem, or an emergency brake can be triggered to ensure operational safety.

[0033] This invention also provides an embodiment of a grinding experiment under grinding pressure disturbance. By controlling the downward pressure of the electric cylinder to obtain the pressure feedback value, a grinding pressure disturbance of 400N is applied at 30 seconds to simulate a sudden change in grinding pressure. The traveling speed is set to 5.1 m / s. The processed data shows two sets of experimental results: the belt renewal speed and belt tension during forward grinding. Figure 6a and Figure 6b As shown; the experimental results of belt speed and tension during reverse grinding are as follows. Figure 7a and Figure 7b As shown; Depend on Figure 6a , Figure 6b , Figure 7a and Figure 7b It can be seen that the belt refresh rate and tension can quickly stabilize near the expected value, with adjustment time within 2 seconds. During forward grinding, the belt speed and tension experience slight abrupt changes, with a peak speed fluctuation of 0.105 m / s and a peak tension fluctuation of 157.5 N. During reverse grinding, the peak belt speed fluctuation is 0.105 m / s and the peak tension fluctuation is 158 N. After the disturbance, the belt refresh rate and loose edge tension during both forward and reverse grinding can quickly return to near the expected value (with an error of 2%), and fluctuate within the allowable error range of the target value.

[0034] Six grinding experiments were conducted at an operating speed of 5.1 km / h, and the results are as follows: Figures 8a-8f As shown, the system can quickly reach a steady state. The actual grinding pressure fluctuates periodically around the expected value of 100N under the influence of disturbances. The deviation of the actual grinding pressure can be controlled within ±5.1%. The control system shows a strong ability to suppress disturbances.

[0035] Embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0036] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0037] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0038] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0039] Contents not described in detail in this specification are prior art known to those skilled in the art. It is hereby indicated that the above description is intended to help those skilled in the art understand this invention, but does not limit the scope of protection of this invention. Any equivalent substitutions, modifications, improvements, or simplifications of the above descriptions that do not depart from the essential content of this invention fall within the scope of protection of this invention.

Claims

1. A rail grinding system for a high-speed rail grinding vehicle, characterized in that, include: Grinding control module and its communication-connected winding subsystem, pressure loading subsystem, travel coordination subsystem, host computer interaction subsystem, and remote control subsystem; The host computer interaction subsystem is used to send control commands to the grinding control module; The grinding control module is used to receive control commands from the host computer interaction subsystem, initialize the states of the winding subsystem, pressure loading subsystem, and travel coordination subsystem, and send control commands to the winding subsystem, pressure loading subsystem, and travel coordination subsystem. The grinding control module includes a winding control unit and a pressure control unit. The winding control unit is used to estimate the sanding belt tension and system disturbance in real time based on the state space model of the winding subsystem, using a Luneburger observer, and according to the sanding belt speed and motor current signals collected by the speed wheel encoder, so as to achieve speed-tension coordination. The pressure control unit is used to estimate the grinding pressure disturbance online according to the deviation between the target grinding pressure and the actual grinding pressure, output the disturbance compensation signal, and maintain constant force grinding. The winding subsystem is used to enable bidirectional renewal of the open sand belt; The pressure loading subsystem is used to apply and regulate the grinding pressure; The traveling coordination subsystem is used to drive the grinding car to move along the rails; The remote control subsystem is used to remotely control the winding subsystem, the pressure loading subsystem, and the travel coordination subsystem.

2. The rail grinding system for a rapid rail grinding vehicle according to claim 1, characterized in that, The pressure control unit includes an inner-loop fuzzy variable impedance controller and an outer-loop self-disturbance rejection grinding controller. The inner-loop fuzzy variable impedance controller is used to estimate the grinding pressure disturbance online based on the target grinding pressure and the actual grinding pressure, and outputs a disturbance compensation signal. The outer-loop self-disturbance rejection grinding controller is used to take the disturbance compensation signal as the input of the impedance model, establish the relationship between the extension and retraction displacement of the servo electric cylinder and the grinding pressure, output a force correction amount to compensate for the grinding pressure deviation, and at the same time, fuzzy control corrects the impedance parameters in real time, and optimizes the output by combining the force feedback of environmental stiffness compensation.

3. A rail grinding system for a rapid rail grinding vehicle according to claim 2, characterized in that, The host computer interaction module includes: The communication module is used to search for and connect to the serial ports of various modules and the system to achieve bidirectional data transmission. The parameter setting module is used to set relevant parameters; The control module is used to issue relevant instructions; The monitoring module is used to display relevant information in real time; The data processing module is used to store relevant data.

4. A rail grinding system for a rapid rail grinding vehicle according to claim 3, characterized in that, The remote control subsystem includes: The travel control keys are used to control forward, backward, stop, and fine-tuning of speed; The grinding control key is used to start and stop the grinding unit and control the sanding belt reversal. The pressure fine-tuning key is used to adjust the polishing pressure; The emergency stop button is used to trigger the braking device of the traveling module and the grinding unit to stop urgently; Status indicator lights are used to show the operating status of the grinding machine.

5. A rail grinding method for a rapid rail grinding vehicle, applied to the rail grinding system for a rapid rail grinding vehicle as described in any one of claims 1-4, characterized in that, include: Step 1: The host computer interaction subsystem sends control commands to the grinding control module, and the grinding control module initializes the status of the winding subsystem, pressure loading subsystem, and travel coordination subsystem; Step 2: The grinding control module controls the DC brushless motor of the unwinding pulley of the winding subsystem to apply the initial braking torque so that the tension of the sanding belt reaches the minimum tension that does not loosen. Step 3: The grinding control module, based on the state-space model of the winding subsystem, uses a Luneburger observer to estimate the belt tension and system disturbance in real time according to the belt speed and motor current signals collected by the speed wheel encoder. Step 4: Input the deviation and deviation rate between the actual belt tension and the desired tension into the fuzzy inference system, and output the scaling factor of the weight coefficient of the corresponding tension state variable in the state weighting matrix of the linear quadratic regulator controller online according to the preset fuzzy rules. Step 5: The linear quadratic regulator controller uses the belt speed deviation and tension deviation as state variables, and combines the dynamically adjusted state weighting matrix to solve the Riccati equation, calculate the optimal control quantity - current, and input it to the DC brushless motor of the take-up pulley. When the unwind pulley diameter is close to the shaft radius, the take-up and unwind pulley roles are switched to realize bidirectional update of the belt. Step 6: The grinding control module receives the target grinding pressure and controls the servo electric cylinder to slowly press down, while the three-dimensional force sensor collects the actual grinding pressure in real time. Step 7: The grinding control module estimates the grinding pressure disturbance online based on the deviation between the target grinding pressure and the actual grinding pressure, and outputs a disturbance compensation signal; Step 8: The grinding control module takes the disturbance compensation signal as input, establishes the mapping relationship between the extension and retraction displacement of the servo electric cylinder and the pressure, and outputs the force correction amount to compensate for the grinding pressure deviation. At the same time, it dynamically adjusts the impedance parameters according to the contact stiffness between the rail and the sanding belt to optimize the pressure output.

6. A rail grinding method for a rapid rail grinding vehicle according to claim 5, characterized in that, In step 4, the preset fuzzy rules are as follows: The Mamdani algorithm is used for fuzzy inference. The triangular membership function is used to establish fuzzy subsets of seven languages: negative small, negative medium, negative large, zero, positive small, positive medium, and positive large {NB, NM, NS, ZO, PS, PM, PB}. When the tension deviation is large (positive or negative), increase the scaling factor value. When the tension deviation is small and the rate of change of the deviation is large (positive or negative), maintain the scaling factor value. When the system tends to stabilize, reduce the scaling factor value.

7. A rail grinding method for a rapid rail grinding vehicle according to claim 6, characterized in that, In step 5, the linear quadratic regulator controller outputs the optimal control quantity by minimizing the quadratic performance index.

8. A rail grinding method for a rapid rail grinding vehicle according to claim 7, characterized in that, The method further includes: Step 9: The host computer interactive subsystem receives and displays the sanding belt speed, tension, grinding pressure, and motor status in real time. The control module stores the experimental data at a certain frequency. If a motor failure or pressure exceeding the threshold occurs, an alarm is immediately triggered, and the rail grinding system stops working.

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