Intelligent control system for a city rail vehicle pantograph

Abstract

The present application belongs to the field of rail vehicle technology, and discloses an intelligent control system for a pantograph of a city rail vehicle, comprising a sensing module, a control module, an execution module, a man-machine interaction module and a data module; the sensing module collects pressure and displacement data of the pantograph in real time and transmits the data to the control module; the control module generates control instructions through a control algorithm based on the collected data and preset target parameters and outputs the control instructions to the execution module; the execution module is a gas circuit control unit that adjusts gas circuit pressure and flow according to the control instructions to realize pantograph charging and exhausting actions; the man-machine interaction module provides a visual operation and parameter setting interface; the data module realizes data storage and interaction; the modules cooperatively form a closed-loop control link of sensing-analysis-decision-execution-feedback to complete intelligent control of pantograph pantograph pressure and pantograph lifting time; the present application can improve the intelligent level and operation and maintenance efficiency of pantograph detection and has a broad market promotion and application prospect.

Description

Technical Field

[0001] This invention belongs to the field of rail vehicle technology, specifically relating to an intelligent control system for pantographs of urban rail vehicles. Background Technology

[0002] In recent years, the number of urban rail vehicles and EMU trains has continued to increase significantly. As the only current-collecting device for trains to obtain electrical energy, the performance of the pantograph directly affects the train's operational stability, safety, and energy utilization efficiency. However, current pantographs generally suffer from the following technical problems in practical applications: large errors in pantograph-catenary pressure detection, making it difficult to meet precise control requirements; the pantograph raising and lowering time adjustment process exhibits obvious nonlinear characteristics, increasing control difficulty; and detection and adjustment operations heavily rely on manual experience, lacking standardized and automated technical means. These problems not only affect the detection efficiency and maintenance quality of pantographs but also, to some extent, restrict the intelligent development of rail transit operations. Therefore, conducting research and development on intelligent control systems for pantographs is of great practical significance for improving rail transit operational efficiency, ensuring train operation safety, and optimizing maintenance processes. It also provides key technical support for promoting the transformation and upgrading of rail transit equipment towards intelligence and digitalization.

[0003] Currently, traditional pantograph testing methods primarily rely on manual operation, covering key parameters such as pantograph-catenary pressure, pantograph raising time, and pantograph lowering time. Pantograph-catenary pressure testing is typically done manually by pulling a mechanical pressure gauge, which suffers from large reading errors, poor repeatability, and the inability to record data in real time. Adjusting the pantograph raising and lowering time depends on maintenance personnel manually adjusting the orifice size of the throttle plug, a complex process heavily reliant on experience, making it difficult to guarantee consistency and accuracy. Specifically, even small changes in the throttle plug orifice size can cause non-linear changes in airflow, thus affecting the stability of the pantograph raising and lowering speed. This method not only struggles to ensure precise control of various parameters but also has a lengthy adjustment process (an average of approximately 45 minutes per vehicle), making it unsuitable for the high-efficiency and high-reliability operation and maintenance requirements of modern rail transit. Summary of the Invention

[0004] To overcome the above-mentioned technical problems, the present invention provides an intelligent control system for pantographs of urban rail vehicles.

[0005] The present invention adopts the following technical solution: An intelligent control system for a pantograph of an urban rail vehicle includes a sensing module, a control module, an execution module, a human-machine interface module, and a data module. The sensing module collects real-time pressure and displacement data of the pantograph and transmits it to the control module. The control module generates control commands based on the collected data and preset target parameters, using a control algorithm, and outputs them to the execution module. The execution module is a pneumatic control unit that adjusts the pneumatic pressure and flow rate according to the control commands to achieve pantograph charging and discharging actions. The human-machine interface module provides a visual operation and parameter setting interface. The data module enables data storage and interaction. All modules work together to form a closed-loop control link of sensing-analysis-decision-execution-feedback, achieving intelligent control of pantograph-catenary pressure and pantograph raising / lowering time.

[0006] Preferably, the sensing module includes an industrial-grade high-precision pressure sensor and a laser displacement sensor; the pressure sensor is a tension sensor with a range of 0-200N and a nonlinearity error ≤ ±0.1% FS; the laser displacement sensor is based on the laser triangulation principle, with a range of 0.1-3m, linearity ≤ ±0.1% FS, response time ≤ 5ms, and a system sampling frequency of not less than 100Hz.

[0007] Preferably, the control module adopts a PLC or embedded microcomputer controller, equipped with an incremental PID control algorithm, the algorithm formula being: u(k)=u(k-1)+k p [e(k)-e(k-1)]+k i e(k)+k d [e(k)-2e(k-1)+e(k-2)]; and noise reduction of the acquired data is achieved through first-order low-pass filtering or median filtering, with the filtering formula being: P filtered (k)=α・P raw (k)+(1−α)・P filtered (k−1), where 0<α<1.

[0008] Preferably, the execution module integrates a digital pressure regulating valve, a precision filter with differential pressure alarm, and a pilot-operated pressure limiting valve; the digital pressure regulating valve receives 0-10V analog voltage or PWM signal, has an internal closed-loop pressure control accuracy of ±0.01 bar, and a response time of ≤50ms; the precision filter has a filtration accuracy of 0.01μm, and the pilot-operated pressure limiting valve stabilizes the gas source pressure below the system's maximum operating pressure.

[0009] Preferably, the human-machine interaction module adopts a 10.1-inch industrial-grade LCD capacitive touch screen with a resolution of 1024×600 and an operating temperature of -20℃ to +70℃; the interface includes three core interfaces: pantograph status display, parameter setting, and fault diagnosis, and supports digital parameter setting, abnormal alarm pop-up windows, and one-click export of test reports.

[0010] Preferably, the data module uses 8GB industrial-grade eMMC flash memory storage, supports cyclic storage of CSV or binary format data; it is equipped with a USB Type-A interface, which can export Excel format test reports and fault logs, and reserves RS485, Ethernet and 4G / 5G / Wi-Fi wireless communication interfaces.

[0011] Preferably, the control module has a built-in fault diagnosis expert system that can identify four types of abnormalities: inconsistent pressure, command execution timeout, sensor communication failure, and extreme position exceeding limits. It can trigger graded alarms and synchronously record fault codes and timestamps to the data module.

[0012] Preferably, the system has a pantograph-catenary pressure control error of ≤ ±0.05 bar, the pantograph raising and lowering time can be digitally set within the range of 0.8 seconds to 3 seconds, the time control accuracy is ≤ 0.1 seconds, and the maintenance and adjustment time for a single vehicle is ≤ 10 minutes.

[0013] Preferably, the execution module completely replaces the original mechanical manual air circuit module of the pantograph, and each component is connected to the precision pipeline using a compression fitting; the digital pressure regulating valve can meet the rapid inflation and deflation requirements of the pantograph airbag at an input pressure of 0.4-0.8MPa.

[0014] Preferably, the system uses a wireless communication module to achieve remote status monitoring, remote parameter distribution, fault warning push, and remote firmware upgrade. Detection and fault data can be uploaded to a cloud-based operation and maintenance management platform.

[0015] Compared with the prior art, the beneficial effects of the present invention are: The "sensing-analysis-control-execution" integrated pantograph intelligent control system proposed in this invention has outstanding advantages such as precise and controllable parameters, efficient and convenient operation, data traceability, and intelligent management. This system is applicable to various urban rail vehicle types, including subways, light rail, monorails, and urban express rail. The system adopts a modular design concept, has good versatility and adaptability, and can be quickly configured and deployed according to the technical parameters of different vehicle types, meeting the growing demand of the rail transit industry for intelligent and precise pantograph detection and control. Attached Figure Description

[0016] Figure 1 This is a diagram showing the connection relationships between the modules of the intelligent detection and control system; Figure 2 This is the pneumatic circuit diagram of the execution module of the intelligent detection and control system. Detailed Implementation

[0017] To address the technical problems of low accuracy, poor efficiency, and reliance on manual experience in traditional pantograph detection methods, this invention proposes an integrated intelligent control system for pantographs, encompassing perception, analysis, control, and execution. The system first establishes a mathematical model of the pantograph-catenary pressure through theoretical analysis and experimental verification, determining its state variables and key influencing factors, including airbag pressure, pressure regulating valve output pressure, airflow rate, and ambient temperature. Then, based on the pantograph's design parameters and operational requirements, it sets the target air pressure distribution value for the entire system. On this basis, a modular air circuit control unit is constructed, integrating high-precision sensors and actuators. Through a PLC control system, it achieves real-time monitoring of the pantograph's status, automatic parameter setting, anomaly alarm prompts, and data export, forming a complete closed-loop control chain that effectively solves the technical defects of traditional methods.

[0018] The system comprises five modules: perception, control, execution, human-computer interaction, and data. It features a clear architecture, well-defined functional boundaries, standardized interfaces, and excellent scalability and maintainability. The modules work collaboratively to form a complete control loop of "perception-analysis-decision-execution-feedback." The specific implementation steps are as follows: S1: Sensing Module Industrial-grade high-precision pressure sensors are employed to collect key physical quantities such as pantograph airbag pressure and pressure regulating valve output pressure in real time, transmitting the data to the control module as feedback signals for closed-loop control. The sensing module also integrates a displacement sensor for real-time monitoring of the pantograph's rising and falling position. Sensor selection comprehensively considers technical indicators such as measurement range, measurement accuracy, response time, and environmental adaptability to ensure the accuracy, real-time performance, and reliability of data acquisition. The sampling frequency is set to no less than 100Hz to meet the requirements of dynamic control.

[0019] S2: Control Module The control module is the core decision-making unit of the system, employing a high-performance PLC or embedded microcomputer controller to implement the control algorithm. This module is responsible for receiving real-time data uploaded by the sensing module and combining it with user-preset target values ​​(such as the pantograph-catenary pressure setpoint P). set Bow raising time T rise Bow lowering time T fall The system calculates control commands using advanced control algorithms (such as incremental PID control and fuzzy adaptive control) and outputs them to the execution module. Simultaneously, the system performs real-time status monitoring and intelligent fault diagnosis on the collected data, identifying abnormal states and triggering a tiered alarm mechanism. The control module is also responsible for communication and coordination with other submodules to ensure synchronized system operation.

[0020] S3: Execution Module The actuator module, a pneumatic circuit control unit, is the final execution mechanism for system control commands. Based on the analog or PWM signals output by the control module, this module precisely adjusts the pneumatic pressure and flow rate via a digital pressure regulating valve to complete the pantograph's inflation or deflation actions. The module integrates components such as a digital pressure regulating valve, a pilot-operated pressure limiting valve, and a precision filter unit, and features a rational pipeline layout to ensure efficient response, stable pressure, and clean media in the pneumatic system. The actuator's response time is controlled within 50ms, meeting the real-time requirements of dynamic adjustment.

[0021] S4: Human-Computer Interaction Module A high-resolution LCD industrial touchscreen is used as the human-machine interface, directly connected to the control module via a serial bus. This module provides a graphical user interface, supporting real-time status monitoring, digital parameter setting, alarm pop-up notifications, and one-click export of test reports. The interface design conforms to ergonomic principles, and the operation process is simple and intuitive, effectively reducing operator training costs and the risk of misoperation.

[0022] S5: Data Module The data module is responsible for system data management and external interaction. This module supports local non-volatile storage of detection and fault data, using industrial-grade SD cards or Flash chips as storage media, and supports a cyclic overwrite storage mechanism. Simultaneously, the module reserves standard RS485, Ethernet, or wireless communication interfaces (such as 4G / 5G, Wi-Fi) to enable data exchange with the upper-level operation and maintenance management system, supporting extended functions such as remote data retrieval, fault warning push notifications, and remote system upgrades.

[0023] Further, the design of the perception module The measurement and control system is the "brain" of the equipment, and its design directly affects the measurement accuracy and control performance. The sensing module, as the system's "sensors," determines the upper limit of the entire control system's performance. Step S1 specifically includes the following design: S11: Pressure Sensor Selection and Installation Design The Jinno JZHL-1 tension sensor was selected for pantograph-catenary pressure detection. This sensor has a measuring range of 0-200N, a nonlinearity error ≤ ±0.1%FS, a repeatability error ≤ ±0.05%FS, a sensitivity of 0.2N, and supports the RS485 digital communication protocol (Modbus RTU). The sensor incorporates a high-precision transmitter, can directly output digital signals, and has good electromagnetic interference resistance. Its installation design advantages include: The use of a fixed mounting bracket avoids the "flying wire" problem of traditional pull-wire sensors, improving the safety of equipment operation; the measurement points are fixed by a positioning structure, reducing measurement errors caused by changes in installation position; The sensor is housed in a control box with an IP65 protection rating, which minimizes the impact of changes in ambient temperature and humidity, ensuring long-term stability in the measurement environment.

[0024] S12: Displacement Sensor Selection and Design A laser displacement sensor based on the laser triangulation principle is used, with a measurement range of 0.1-3m, linearity ≤ ±0.1%FS, resolution 0.1mm, and response time ≤ 5ms. Its main functions and technical advantages include: Position feedback control: Real-time monitoring of the height position of the pantograph slide relative to the rail surface, providing feedback signals for precise closed-loop control of the pantograph position; Safety limit protection: The upper and lower limit thresholds are set by software. When the pantograph is detected to have reached the limit position due to a fault, the system immediately sends a hard interrupt signal to cut off the motor power supply to prevent mechanical damage. Speed ​​calculation and time measurement: By differentiating the position signal, the pantograph's lifting and lowering speeds are calculated in real time, thereby accurately calculating the lifting time T. rise and bow drop time T fall The calculation formula is: Where h(t) is the real-time altitude and v(t) is the real-time velocity.

[0025] Further, control module design The control module is the core of the entire intelligent detection and control system, and it uses a PLC or a high-performance embedded microcomputer controller to realize the control functions of the entire system. Step S2 specifically includes the following detailed design: S21: Target air pressure integrated calculation and control signal output The system determines the bow raising time requirement T based on the user's settings via the human-machine interface. riseset The bow lowering time requirement T fallset Pantograph-catenary pressure requirement p target Based on the current actual state of the pantograph (such as current position and current pressure), the target air pressure value p is calculated comprehensively through the built-in control model. set The control algorithm employs an incremental digital PID control algorithm to improve control stability and response speed. u(k)=u(k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)] Where u(k) is the control output at the current moment (corresponding to the control voltage of the digital pressure regulating valve); e(k) = pset - pactual(k) is the pressure deviation at the current moment; kp, ki, and kd are the proportional, integral, and derivative coefficients, respectively, which are determined by field tuning or self-tuning algorithms.

[0026] The control signal is converted into a 0-10V analog voltage signal or PWM signal by the D / A conversion module and output to the digital pressure regulating valve of the execution module.

[0027] S22: Pressure sensor signal reading The control module periodically polls and reads real-time data from each digital pressure sensor via an RS485 bus according to the Modbus RTU protocol. To ensure real-time performance and stability, the reading period is set to 10ms (i.e., a sampling frequency of 100Hz). The program internally performs digital filtering on the raw data (such as first-order low-pass filtering or median filtering) to suppress high-frequency noise interference. The filtering algorithm is as follows: P filtered (k)=α·P raw (k)+(1−α)·P filtered (k−1) Where α is the filtering coefficient (0 < α < 1), which is adjusted according to the actual noise level.

[0028] S23: LCD screen driving and instruction reading The control module communicates with the LCD touchscreen via a serial interface (such as UART, RS232, or SPI). The program maintains a real-time updated display buffer containing pressure values, displacement values, operating status, alarm information, etc., and refreshes it to the screen periodically. Simultaneously, it reads user operation commands (such as parameter modification, mode switching, start / stop, etc.) from the touchscreen via interrupts or polling, parses them, and updates the system operating parameters.

[0029] S24: Intelligent Diagnosis of Pantograph Status The system has a built-in rule-based and threshold-based fault diagnosis expert system that can identify the following abnormal states and record fault codes in real time: Pressure inconsistency fault When the absolute value of the deviation between the measured pressure and the target pressure, |e(k)|, continuously exceeds the set threshold εP (e.g., 0.1 bar) for a set time t, delay (e.g., 2 seconds) is considered an abnormal pressure regulation. Instruction execution timeout fault After issuing the command to raise or lower the bow, if within the specified time window T timeout If the target position or target pressure is not reached, it is determined to be a malfunction of the actuator. Sensor disconnection or communication failure If multiple consecutive attempts to read sensor data fail or invalid data frames are received, the sensor is considered faulty. Extreme position over-limit fault When the displacement sensor detects that the pantograph position exceeds the software limit threshold, an emergency stop is immediately triggered and an alarm is sounded.

[0030] The diagnostic results are displayed via pop-up windows and status indicator lights on the human-machine interface and are simultaneously recorded in the fault log of the data module.

[0031] S25: Data storage of pantograph status The system supports non-volatile circular storage of critical status data. After each detection task is completed, a detection record is automatically generated, including a timestamp, target parameters, actual parameters, deviation values, and diagnostic results. The storage medium is an industrial-grade MicroSD card with a FAT32 file system, supporting read and write operations via the FATFS software layer. The storage strategy employs a circular overwrite approach, automatically overwriting the oldest historical record when storage space is insufficient, ensuring that the latest data is always available. Data storage formats support CSV or custom binary formats, facilitating subsequent data analysis and report generation via host computer software.

[0032] S26: Wireless Network Interface To meet future intelligent operation and maintenance needs, the control module has a reserved wireless communication expansion interface. This interface conforms to standard UART or SPI protocols and can easily connect to wireless communication modules such as 4G / 5G, Wi-Fi, or LoRa. Through this expansion module, the system can realize the following advanced functions: Remote status monitoring: Uploads real-time operational data to the cloud-based operations and maintenance platform to achieve remote, visual management; Remote parameter distribution: Maintenance personnel can remotely modify the control parameters of the pantograph through the back-end system; Fault warning push: When the system diagnoses a potential fault, it automatically notifies maintenance personnel via SMS, APP push, and other means; Remote firmware upgrade: Supports remote firmware upgrades via wireless network, reducing on-site maintenance costs.

[0033] Further, execution module design The execution module is the key link in translating control commands into physical actions. Step S3 specifically includes the following detailed design: S31: Integrated Upgrade of Gas Path Module The original purely mechanical manual pneumatic circuit module of the pantograph was completely replaced with an integrated, intelligent electronically controlled pneumatic circuit module. The new module integrates core components such as a digital pressure regulating valve, a high-precision filter, and a pilot-operated pressure limiting valve. The components are connected by compression fittings and precision pipelines to ensure airtightness and reliability.

[0034] Digital pressure regulating valve The digital pressure regulating valve is the core component of the actuator module, replacing the original manual pressure regulating valve. This valve is driven by a proportional solenoid, and its working principle is as follows: it receives a 0-10V analog voltage command signal from the control module and adjusts the valve opening through an internal high-speed switching valve or proportional valve core, thereby precisely controlling the output pressure value. Its key technical characteristics include: Closed-loop control integration: A miniature pressure sensor is integrated inside the valve body to monitor the output pressure in real time and compare it with the target command, forming an internal closed loop. This significantly improves the control accuracy of the output pressure (up to ±0.01 bar) and the response speed (≤50 ms); Flow characteristics: Within the input pressure range of 0.4-0.8 MPa, the maximum flow rate can meet the rapid inflation and deflation requirements of the pantograph airbag. Filter To improve the reliability of the gas path system, the ordinary filter is upgraded to a precision filter with differential pressure alarm function. Its main technical features include: Filtration accuracy: The filtration accuracy reaches 0.01μm, which can effectively filter moisture, oil mist and fine particles in compressed air; Differential pressure monitoring: Differential pressure sensors are installed at both the inlet and outlet of the filter to monitor the degree of filter element clogging in real time. When the differential pressure exceeds the preset alarm threshold ΔP_alarm (e.g., 0.5 bar), the system automatically triggers a maintenance alarm, prompting the operator to replace the filter element in time to avoid insufficient air pressure or impurities damaging the downstream precision valve body and sensors due to severe filter element clogging; Maintenance prediction: By recording the rate of change of differential pressure over time, the system can make a preliminary prediction of the remaining life of the filter element, thus enabling predictive maintenance.

[0035] Pressure relief valve A high-precision pilot-operated pressure relief valve is installed at the air source inlet. Its function is to stably control the compressed air from the vehicle's main air cylinder (typically between 0.6-1.0 MPa) within a large fluctuation range, keeping it below the system's maximum allowable operating pressure P_max (e.g., 0.6 MPa). This valve employs a pilot-operated structure, offering high control precision, fast response, and minimal fluctuation. It provides a relatively stable and limit-free input pressure to the downstream digital pressure regulating valve, fundamentally improving the stability and pressure regulation accuracy of the entire air circuit control system.

[0036] Furthermore, the design of the human-computer interaction module. The human-computer interaction module uses a 10.1-inch high-brightness industrial-grade LCD capacitive touchscreen with a resolution of 1024×600 and an operating temperature range of -20℃ to +70℃, meeting the requirements of the complex environment of rail transit. The software interface adopts a hierarchical, card-based design, mainly including three core functional interfaces: Pantograph status display interface: In the form of instrument panel, graph, numerical box, etc., the current pantograph-catenary pressure, airbag pressure, pantograph lifting height, real-time speed, current working mode, system time and latest alarm information are displayed in real time, so that the operator can have a clear understanding of the equipment status; Pantograph parameter setting interface: Provides a numeric keypad and slider controls, supporting operator input or selection of target pantograph-catenary pressure P target (Range, Step Value), Target Bow Raising Time T rise _set(range, step value), target bow descent time T fall Core control parameters such as _set. Parameter modifications require secondary confirmation to prevent accidental operation; Pantograph fault diagnosis interface: Historical fault records are clearly displayed in a list format (including fault occurrence time, fault code, and fault description), and users can view current faults and system-provided troubleshooting suggestions. The interface also provides function buttons such as "Clear History" and "Export Fault Log".

[0037] Further, data module design The data module is the data hub of the system. Its core functions include: Data storage and management: Industrial-grade eMMC flash memory with a capacity of 8GB is used as the main storage medium. The system database records complete process data for each test, including target parameters, measured parameters, control output values, timestamps, operator IDs, etc. A circular queue-based database management strategy is adopted to automatically manage storage space; External data exchange: The front panel provides a standard USB Type-A interface. After inserting a USB flash drive, the test report or fault log can be exported to an Excel file with one click through the human-machine interface, which is convenient for data analysis, quality traceability and report generation in the future. Remote Analysis and Early Warning Extension: With optional wireless communication extension modules (such as 4G DTU), the data module can upload real-time data or compressed feature data to a designated cloud server. The analysis software in the operations and maintenance center can perform in-depth data mining to achieve trend analysis and fault early warning, providing a data foundation for intelligent operations and maintenance.

[0038] This invention achieves the following outstanding benefits through its innovative system architecture and sophisticated control algorithms: The accuracy of pantograph-catenary pressure control has been greatly improved: by adopting digital closed-loop control technology, the pantograph-catenary pressure control error is stably maintained within ≤±0.05 bar, which is far superior to the traditional manual method, effectively improving the current collection quality and reducing pantograph-catenary wear; Precise and quick setting of pantograph lifting time: The pantograph lifting time can be digitally and precisely set within a wide range of 0.8 seconds to 3 seconds, with a time control accuracy of ≤0.1 seconds, to meet the personalized needs of different lines and working conditions; Fully Automated Detection and Control Process: The system automates the entire process from parameter input and process control to result recording. Maintenance personnel only need to input the target value on the touchscreen and press the start button; the system automatically completes all adjustments. The time required for parameter adjustment per vehicle is reduced from 45 minutes to less than 10 minutes, a reduction of approximately 78%, significantly improving maintenance efficiency. Low Cost and High Adaptability: The hardware cost of the entire system is kept low, only about one-third of similar imported high-speed rail equipment. The system adopts a modular design and standard interfaces, without altering the original mechanical structure of the pantograph. It can be quickly adapted and installed on various existing urban rail vehicles, offering extremely high cost-effectiveness and broad market application prospects.

[0039] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to the above embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An intelligent control system for pantographs of urban rail vehicles, characterized in that, The system includes a sensing module, a control module, an execution module, a human-machine interface module, and a data module. The sensing module collects real-time pressure and displacement data of the pantograph and transmits it to the control module. The control module generates control commands based on the collected data and preset target parameters, and outputs them to the execution module. The execution module is a pneumatic control unit that adjusts the pneumatic pressure and flow rate according to the control commands to realize the pantograph's charging and discharging actions. The human-machine interface module provides a visual operation and parameter setting interface. The data module realizes data storage and interaction. All modules work together to form a closed-loop control link of sensing-analysis-decision-execution-feedback, completing the intelligent control of pantograph-catenary pressure and pantograph raising and lowering time.

2. The intelligent control system for pantographs of urban rail vehicles according to claim 1, characterized in that, The sensing module includes an industrial-grade high-precision pressure sensor and a laser displacement sensor; the pressure sensor is a tension sensor with a range of 0-200N and a nonlinearity error of ≤±0.1% FS; the laser displacement sensor is based on the laser triangulation principle, with a range of 0.1-3m, linearity of ≤±0.1% FS, response time of ≤5ms, and a system sampling frequency of not less than 100Hz.

3. The intelligent control system for pantographs of urban rail vehicles according to claim 1, characterized in that, The control module uses a PLC or embedded microcomputer controller, equipped with an incremental PID control algorithm. The algorithm formula is: u(k) = u(k-1) + k p [e(k)-e(k-1)]+k i e(k)+k d [e(k)-2e(k-1)+e(k-2)]; and noise reduction of the acquired data is achieved through first-order low-pass filtering or median filtering, with the filtering formula being: P filtered (k)=α・P raw (k)+(1−α)・P filtered (k−1), where 0<α<1.

4. The intelligent control system for pantographs of urban rail vehicles according to claim 1, characterized in that, The execution module integrates a digital pressure regulating valve, a precision filter with differential pressure alarm, and a pilot-operated pressure limiting valve. The digital pressure regulating valve receives 0-10V analog voltage or PWM signal, with an internal closed-loop pressure control accuracy of ±0.01 bar and a response time of ≤50ms. The precision filter has a filtration accuracy of 0.01μm, and the pilot-operated pressure limiting valve stabilizes the gas source pressure below the system's maximum operating pressure.

5. The intelligent control system for pantographs of urban rail vehicles according to claim 1, characterized in that, The human-machine interface module adopts a 10.1-inch industrial-grade LCD capacitive touch screen with a resolution of 1024×600 and an operating temperature range of -20℃ to +70℃. The interface includes three core interfaces: pantograph status display, parameter setting, and fault diagnosis. It supports digital parameter setting, abnormal alarm pop-ups, and one-click export of test reports.

6. The intelligent control system for pantographs of urban rail vehicles according to claim 1, characterized in that, The data module uses 8GB of industrial-grade eMMC flash memory storage, supports CSV or binary format data cyclic storage; it is equipped with a USB Type-A interface, which can export Excel format test reports and fault logs, and reserves RS485, Ethernet and 4G / 5G / Wi-Fi wireless communication interfaces.

7. The intelligent control system for pantographs of urban rail vehicles according to claim 1, characterized in that, The control module has a built-in fault diagnosis expert system that can identify four types of abnormalities: inconsistent pressure, command execution timeout, sensor communication failure, and extreme position exceeding limits. It can trigger graded alarms and record the fault code and timestamp to the data module simultaneously.

8. The intelligent control system for pantographs of urban rail vehicles according to claim 1, characterized in that, The system's pantograph-catenary pressure control error is ≤ ±0.05 bar, the pantograph raising and lowering time can be digitally set within the range of 0.8 seconds to 3 seconds, the time control accuracy is ≤ 0.1 seconds, and the maintenance and adjustment time for a single vehicle is ≤ 10 minutes.

9. The intelligent control system for pantographs of urban rail vehicles according to claim 4, characterized in that, The execution module completely replaces the original mechanical manual air circuit module of the pantograph, and each component is connected to the precision pipeline using a compression fitting; the digital pressure regulating valve can meet the rapid inflation and deflation requirements of the pantograph airbag under an input pressure of 0.4-0.8MPa.

10. The intelligent control system for pantographs of urban rail vehicles according to claim 1, characterized in that, The system uses a wireless communication module to achieve remote status monitoring, remote parameter distribution, fault warning push, and remote firmware upgrade. Detection and fault data can be uploaded to a cloud-based operation and maintenance management platform.

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