A method and system for fast calculation of pantograph-catenary dynamics based on coupling windows

Abstract

The application relates to a pantograph-catenary dynamics simulation fast calculation method and system based on a coupling window, and relates to the technical field of dynamics simulation. The application comprises the following steps: dividing full-line catenaries into multiple windows along the running direction of a pantograph; establishing a pantograph dynamics model; calculating the contact force between the pantograph and the corresponding catenary at the current time, and solving the vibration state of the catenary and the pantograph in the current window; when the pantograph runs to the overlapping area of the current window and the next window, copying the node displacement of the catenary subsystem and the suspension compensation tension in the overlapping area of the current window to the corresponding overlapping area of the next window to complete the vibration transmission between the windows; when the pantograph runs to the boundary of the overlapping area of the current window and the next window, switching the interaction window of the pantograph to the next window, and outputting the full-time contact force data. The application realizes the pantograph-catenary dynamics calculation of a long and large line, and significantly improves the calculation efficiency.

Description

Technical Field

[0001] This invention relates to the field of dynamics simulation technology, and more specifically, to a fast calculation method and system for pantograph-catenary dynamics simulation based on a coupling window. Background Technology

[0002] With the continuous development of high-speed rail technology, scholars and engineers have begun to focus on more in-depth and extensive research, such as the dynamic characteristics of the pantograph-catenary system throughout the entire process of a train passing through a tunnel, the dynamic characteristics of the pantograph-catenary system throughout the entire process of a train passing through a curve, and the fault evolution law of a faulty pantograph. However, as the length of the catenary increases, the computation time required for pantograph-catenary modeling and solving will increase exponentially. When the matrix of the equations is too large, it may even lead to situations where the calculation cannot be completed due to computer memory overflow. Summary of the Invention

[0003] The purpose of this invention is to provide a fast calculation method and system for bow-catenary dynamics simulation based on a coupling window, so as to improve the above-mentioned problems. To achieve the above objective, the technical solution adopted by this invention is as follows: Firstly, this application provides a fast calculation method for pantograph-catenary dynamics simulation based on a coupling window, including: Step S1: Divide the entire contact network into multiple windows along the pantograph's running direction. Each window includes the running section and the overlapping area with adjacent windows. Establish a finite element model for each window to perform shape finding. Step S2: Establish a pantograph dynamic model; Step S3: Determine the current window and window type of the pantograph based on its real-time position, where the window type includes a normal window and an anchor joint window; Step S4: Based on the type of the current window, calculate the contact force between the pantograph and the corresponding contact wire at the current moment, and solve for the vibration state of the contact wire and pantograph in the current window; Step S5: When the pantograph moves to the overlapping area of ​​the current window, the contact force of the current window is used to force vibration loading on the next adjacent window, and the node displacement of the contact network subsystem and the dropper compensation tension in the overlapping area of ​​the current window are copied to the corresponding overlapping area of ​​the next window to complete the vibration transmission between windows. Step S6: When the pantograph moves to the boundary of the overlapping area between the current window and the next window, switch the interaction window of the pantograph to the next window, and repeat steps S3 to S6 until the pantograph-catenary dynamics simulation of the entire contact network is completed and the full contact force time history data is output.

[0004] Preferably, in step S5, the specific steps for completing the vibration transmission between windows include: Using the contact force calculated in the current window, forced vibration calculation is performed on the next window to obtain the initial vibration state of the non-overlapping region in the next window; Copy the nodal displacements of the catenary subsystem, the nodal displacements of the contact wire subsystem, and the compensating tension of the droppers within the current window's overlapping area to the corresponding overlapping area of ​​the next window; The initial vibration state of the non-overlapping region of the next window is merged with the vibration state of the already copied overlapping region to form the complete vibration state of the next window.

[0005] Preferably, in step S4, when the current window is a normal window, the normal window is divided into a front running area, an overlapping area and a rear running area along the pantograph running direction. When the pantograph is in the forward operating zone, calculate the vibration state of the contact wire and pantograph in the current window; When the pantograph is in the overlapping area, while calculating the vibration state of the current window, step S5 is executed to force the next window to vibrate using the contact force of the current window, and the node displacement of the contact wire subsystem and the dropper compensation tension in the overlapping area of ​​the current window are copied to the corresponding area of ​​the next window. When the pantograph is located at the boundary between the overlapping area and the subsequent operating area, the interaction window of the pantograph is switched to the next window.

[0006] Preferably, when the current window is an anchor segment joint window, the anchor segment joint window includes the contact wires of two adjacent anchor segments, namely the first anchor segment contact wire and the second anchor segment contact wire, the contact wires of the two anchor segments are independent of each other, and the remaining amount after the anchor segment is divided is included in the anchor segment joint window. In step S4, contact models of the pantograph with the first anchor section contact network and the second anchor section contact network are established respectively. The two contact components are calculated respectively, and the vibration state of the two anchor section contact networks is solved separately. The response of the pantograph is solved based on the displacement and velocity of the two anchor section contact points. When the pantograph is located in the front running zone and the internal transition zone of the anchor section joint window, calculate the vibration state of the first anchor section contact wire and the second anchor section contact wire respectively. When the pantograph is located in the overlapping area of ​​the joint window of the anchor section, the vibration state of the two anchor sections of the contact network continues to be calculated. At the same time, the contact component of the second anchor section of the contact network is used to force vibration loading on the next window, and the node displacement of the second anchor section of the contact network in the overlapping area and the dropper compensation tension are copied to the corresponding area of ​​the next window. When the pantograph moves to the boundary between the overlapping area and the subsequent operating area, the interaction window is switched to the next window.

[0007] Preferably, when the pantograph moves to the overlapping area of ​​the previous window of the anchor section joint window, the contact force of the previous window is used to force vibration loading on the first anchor section contact wire of the anchor section joint window, and the node displacement of the contact wire subsystem and the dropper compensation tension in the overlapping area of ​​the previous window are copied to the corresponding area of ​​the anchor section joint window to complete the vibration pre-preparation before entering the anchor section joint window.

[0008] Preferably, when two pantographs, a front pantograph and a rear pantograph, are running simultaneously on the contact network, the windows where the front pantograph and the rear pantograph are located are set to be the same window or adjacent windows; when the two pantographs are located in the same window, the total contact force of the window is equal to the sum of the contact force of the front pantograph and the contact force of the rear pantograph, and the total contact force is used as the external excitation for solving the contact network dynamic equation of the window.

[0009] Preferably, when the current bow is located in the current window and the subsequent bow is located in the previous adjacent window, the total contact force of each window is determined according to the following temporal coupling relationship: The contact force of the front bow at the current integration moment is calculated based on the difference between the displacement and velocity of the contact point between the front bow and the current window at the previous integration moment, and the contact force of the rear bow at the previous integration moment is added to obtain the total contact force of the current window at the current integration moment. The contact force of the rear bow at the current integration time is calculated based on the difference in displacement and velocity between the rear bow and the contact point of the previous adjacent window at the previous integration time, and the contact force of the front bow at the current integration time is added to obtain the total contact force of the previous adjacent window at the current integration time. Based on the total contact force of the current window and the previous adjacent window, the vibration state of the corresponding window is solved respectively. The front bow performs vibration transmission and pre-preparation for its next window according to step S5. After the rear bow completes the calculation in the current window, it directly enters the adjacent window that has been pre-prepared by the front bow.

[0010] Preferably, the two ends of each window are subject to fully fixed constraints, constraining all degrees of freedom of the catenary, elastic suspender, and contact line boundary nodes.

[0011] Secondly, this application also provides a fast calculation system for pantograph-catenary dynamics simulation based on a coupling window, comprising: The modeling module is used to divide the entire contact network into multiple windows along the pantograph's running direction. Each window includes the running section and the overlapping area with adjacent windows. A finite element model is built for each window to perform shape finding. Establishment module: Used to establish the pantograph dynamics model; Positioning module: used to determine the current window and window type of the pantograph based on its real-time position, including normal window and anchor joint window; The calculation and solution module is used to calculate the contact force between the pantograph and the corresponding contact wire at the current moment based on the type of the current window, and to solve the vibration state of the contact wire and pantograph in the current window. Loading switching module: When the pantograph moves to the overlapping area of ​​the current window, it uses the contact force of the current window to force vibration loading on the next adjacent window, and copies the node displacement of the catenary subsystem and the dropper compensation tension in the overlapping area of ​​the current window to the corresponding overlapping area of ​​the next window to complete the vibration transmission between windows; Simulation output module: When the pantograph moves to the boundary of the overlapping area between the current window and the next window, it switches the interaction window of the pantograph to the next window and repeats steps S3 to S6 until the pantograph-catenary dynamics simulation of the entire contact network is completed, and outputs the full contact force time history data.

[0012] Thirdly, this application also provides a fast calculation device for pantograph-catenary dynamics simulation based on a coupling window, comprising: Memory, used to store computer programs; A processor is used to implement the steps of the fast calculation method for bow-catenary dynamics simulation based on coupling window when executing the computer program.

[0013] Fourthly, this application also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described fast calculation method for pantograph-catenary dynamics simulation based on a coupling window.

[0014] The beneficial effects of this invention are as follows: This invention simulates the entire contact network by using a moving window, designs an anchor segment joint window to simulate the anchor segment joint area, and uses vibration replication and forced vibration to complete the vibration transmission between segments, realizing the simulation of the mutual influence of the vibrations of the two pantographs, thereby calculating the contact force of the entire contact network. The calculation accuracy of the method is verified from the perspectives of elastic chain flexible contact network, simple chain flexible contact network, and rigid contact network. The standard deviation of the contact force of the coupled window method and the classical method is within 1%, and the calculation time is only 1 / 5 of that of the classical method.

[0015] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the fast calculation method for pantograph-catenary dynamics simulation based on coupling window described in the embodiments of the present invention; Figure 2 This is a schematic diagram of the fast calculation system for pantograph-catenary dynamics simulation based on coupling window described in this embodiment of the invention; Figure 3 This is a schematic diagram of the rapid calculation device for pantograph-catenary dynamics simulation based on a coupling window, as described in an embodiment of the present invention. Figure 4 This is a flowchart of the fast calculation method for bow-catenary dynamics simulation based on coupling window described in this embodiment of the invention during the operation of a dual-bow system; Figure 5 This is a time-domain comparison of contact force between the classical method and the coupled window method for rapid calculation of bow-catenary dynamics simulation based on the coupling window method described in this embodiment of the invention during single-bow operation. Figure 6 This is a time-domain diagram of the contact force of the double-bow type flexible contact network before operation, based on the fast calculation method of pantograph-catenary dynamics simulation using a coupling window as described in this embodiment of the invention. Figure 7 This is a time-domain diagram of the contact force of a simple chain-type flexible contact network before the operation of two bows in the fast calculation method of bow-catenary dynamics simulation based on coupling window described in this embodiment of the invention. Figure 8 This is a time-domain diagram of the contact force of a single bow in rigid contact network, based on the fast calculation method of bow-catenary dynamics simulation using a coupling window as described in this embodiment of the invention. Figure 9 This invention presents a comparison of the computation time of the coupled window method and the classical method for fast calculation of bow-catenary dynamics simulation based on coupled window, as described in this embodiment.

[0018] In the diagram: 701, Modeling module; 702, Establishment module; 703, Positioning module; 704, Calculation and solution module; 705, Loading and switching module; 706, Simulation output module; 800, Fast calculation device for pantograph-catenary dynamics simulation based on coupled window; 801, Processor; 802, Memory; 803, Multimedia component; 804, I / O interface; 805, Communication component. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] 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. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Example 1:

[0022] When the pantograph moves across the overhead contact line, the contact force causes the contact line to vibrate. Due to damping, the contact force attenuates as it is transmitted to both sides, and the vibration becomes weaker with distance from the pantograph. This indicates that the influence of the contact force on the contact line is limited to a specific area. In the dynamic calculation process, a portion of the contact line is used instead of the entire contact line interacting with the pantograph, significantly reducing the matrix size of the contact line model involved in the calculation and improving computational efficiency. Therefore, the entire contact line is divided into several small segments, and the total contact force is obtained by summing the contact forces between the pantograph and each segment. To ensure a smooth transition of the pantograph between segments, vibration transmission between the contact lines of each segment needs to be considered. However, the segments are independent of each other. To accomplish vibration transmission, the concept of a "window" is introduced. A window is a combination of a segment and the adjacent contact line; adjacent segments share a portion of the same contact line within their window, through which vibration can be transmitted. Clearly, this portion of the contact line needs to contain most of the vibration information, requiring the planning of an "effective vibration area" based on the pantograph's movement area. The boundary conditions of the window are completely fixed, which is equivalent to constraining all degrees of freedom of the catenary, elastic suspenders, and contact wire boundary nodes. The boundary conditions will also have a certain impact on the vibration of the contact wire. Outside the "effective vibration zone", it is also necessary to consider adding a certain length of contact wire to eliminate the influence of the boundary conditions.

[0023] The vibration transmission scheme for a standard window is as follows: When the pantograph is running on segment Ei1 of the i-th window, the contact force of the i-th window is used to force vibration on the (i+1)-th window (loading and solving). Additionally, the vibration of segment Ei of the i-th window (including the nodal displacements of the contact wire, catenary, elastic sling, and locator, as well as the tension of the dropper string) is copied to segment Ei of the (i+1)-th window. This scheme can transmit the vibration of the i-th segment to the (i+1)-th window, putting the (i+1)-th segment in a pre-ready state. When t... i 2 At time t, the window interacting with the pantograph changes from the i-th window to the (i+1)-th window.

[0024] Because the anchor joint includes the contact wires of two adjacent anchor sections (named Anchor Section 1 and Anchor Section 2 respectively), the window design for the anchor joint area differs from that of the normal area. When the pantograph reaches the anchor joint, since the contact wires of Anchor Section 1 and Anchor Section 2 are independent, the vibration of the contact wire of Anchor Section 1 will not be transmitted to Anchor Section 2, making calculations impossible using the above method. Therefore, the anchor joint area is treated as a special section. At the anchor joint, the pantograph contacts the contact wires of both anchor sections. For ease of operation, the entire anchor joint area can be designed as a single special window. Furthermore, to address the margin issue after dividing the anchor section into integer segments, this margin can be included when creating the anchor joint window.

[0025] The vibration transmission process of the anchor joint window is as follows: when t i-1 1 At any given moment, the pantograph operates in the (i-1)th window, using the contact force of the (i-1)th window to force vibration of the contact wire of anchor segment 1 in the (i-1)th window, and thus the E of the (i-1)th window... i-1 The vibration of the segment is replicated to E in the joint window of the anchor segment (i.e., the i-th window). i-1 Segment. When t i-1 2 At time t, the window interacting with the pantograph changes from the (i-1)th window to the ith window. i 1 At time 1, the contact force of the contact wire of anchor segment 2 of the i-th window is used to force vibration of the (i+1)-th window, and the E of the anchor segment joint window is adjusted. i The vibration of segment is copied to E in the (i+1)th window. i Segment. When t i 2 At time 1, the window interacting with the pantograph changes from the i-th window to the (i+1)-th window.

[0026] This embodiment provides a fast calculation method for pantograph-catenary dynamics simulation based on a coupling window.

[0027] See Figure 1The figure shows that the method includes steps S1, S2, S3, S4, S5 and S6.

[0028] S1. Divide the entire contact network into multiple windows along the pantograph's running direction. Each window includes the running section and the overlapping area with adjacent windows. Establish a finite element model for each window to perform shape finding.

[0029] S2. Establish a dynamic model of the pantograph.

[0030] S3. Determine the current window and window type of the pantograph based on its real-time position. The window type includes a normal window and an anchor joint window.

[0031] S4. Based on the type of the current window, calculate the contact force between the pantograph and the corresponding contact wire at the current moment, and solve for the vibration state of the contact wire and pantograph in the current window.

[0032] It is understandable that in this step, S4 includes S41, S42, and S43, where: S41. When the current window is a normal window, the normal window is divided into a front running area, an overlapping area and a rear running area along the pantograph running direction. S42. When the pantograph is in the forward operating zone, calculate the vibration state of the contact wire and pantograph in the current window; S43. When the pantograph is located in the overlapping area, while calculating the vibration state of the current window, execute step S5 to force vibration of the next window using the contact force of the current window, and copy the node displacement of the contact network subsystem and the dropper compensation tension in the overlapping area of ​​the current window to the corresponding area of ​​the next window; when the pantograph is located at the boundary between the overlapping area and the subsequent operating area, switch the interaction window of the pantograph to the next window.

[0033] S5. When the pantograph moves to the overlapping area of ​​the current window, it uses the contact force of the current window to force vibration loading on the next adjacent window, and copies the node displacement of the contact network subsystem and the dropper compensation tension in the overlapping area of ​​the current window to the corresponding overlapping area of ​​the next window to complete the vibration transmission between windows.

[0034] It is understandable that in this step, S5 includes S51, S52, and S53, where: S51. Using the contact force calculated in the current window, perform forced vibration calculation on the next window to obtain the initial vibration state of the non-overlapping area in the next window. S52. Copy the nodal displacements of the catenary subsystem, the nodal displacements of the contact wire subsystem, and the compensating tension of the droppers within the current window's overlapping area to the corresponding overlapping area of ​​the next window. S53. Merge the initial vibration state of the non-overlapping region of the next window with the vibration state of the already copied overlapping region to form the complete vibration state of the next window.

[0035] It should be noted that when the current window is an anchor segment joint window, the anchor segment joint window includes the contact wires of two adjacent anchor segments, namely the first anchor segment contact wire and the second anchor segment contact wire. The contact wires of the two anchor segments are independent of each other, and the remaining amount after the anchor segment is divided is included in the anchor segment joint window. In step S4, contact models of the pantograph with the first anchor section contact network and the second anchor section contact network are established respectively. The two contact components are calculated respectively, and the vibration state of the two anchor section contact networks is solved separately. The response of the pantograph is solved based on the displacement and velocity of the two anchor section contact points. When the pantograph is located in the front running zone and the internal transition zone of the anchor section joint window, calculate the vibration state of the first anchor section contact wire and the second anchor section contact wire respectively. When the pantograph is located in the overlapping area of ​​the joint window of the anchor section, the vibration state of the two anchor sections of the contact network continues to be calculated. At the same time, the contact component of the second anchor section of the contact network is used to force vibration loading on the next window, and the node displacement of the second anchor section of the contact network in the overlapping area and the dropper compensation tension are copied to the corresponding area of ​​the next window. When the pantograph moves to the boundary between the overlapping area and the subsequent operating area, the interaction window is switched to the next window.

[0036] When the pantograph moves to the overlapping area of ​​the previous window of the anchor section joint window, the contact force of the previous window is used to force vibration loading on the first anchor section contact wire of the anchor section joint window, and the node displacement of the contact wire subsystem and the dropper compensation tension in the overlapping area of ​​the previous window are copied to the corresponding area of ​​the anchor section joint window to complete the vibration pre-preparation before entering the anchor section joint window.

[0037] Specifically, when the current bow is located in the current window and the subsequent bow is located in the previous adjacent window, the total contact force of each window is determined according to the following temporal coupling relationship: The contact force of the front bow at the current integration moment is calculated based on the difference between the displacement and velocity of the contact point between the front bow and the current window at the previous integration moment, and the contact force of the rear bow at the previous integration moment is added to obtain the total contact force of the current window at the current integration moment. The contact force of the rear bow at the current integration time is calculated based on the difference in displacement and velocity between the rear bow and the contact point of the previous adjacent window at the previous integration time, and the contact force of the front bow at the current integration time is added to obtain the total contact force of the previous adjacent window at the current integration time. Based on the total contact force of the current window and the previous adjacent window, the vibration state of the corresponding window is solved, and the calculation formula for the temporal coupling relationship is as follows:

[0038] Among them, the contact force of the front bow and the contact force of the rear bow are calculated based on the difference between the displacement and velocity of the contact point between the bow and the window at the previous integration moment, and the superscript of the rear bow indicates the previous integration moment. The front bow performs vibration transmission and pre-preparation for its next window according to step S5. After the rear bow completes the calculation in the current window, it directly enters the adjacent window that has been pre-prepared by the front bow.

[0039] In this step, the two ends of each window are subject to fully fixed constraints, constraining all degrees of freedom of the catenary, elastic suspenders, and contact line boundary nodes.

[0040] S6. When the pantograph moves to the boundary of the overlapping area between the current window and the next window, switch the interaction window of the pantograph to the next window, and repeat steps S3 to S6 until the pantograph-catenary dynamics simulation of the entire contact network is completed and the full contact force time history data is output.

[0041] In this embodiment, when only one pantograph is running on the contact wire, the execution scheme of the coupling window method is as follows: First, the entire overhead contact line is divided. To improve computational efficiency, instead of a unified modeling and shape-finding followed by subdivision, each window is modeled and shaped separately. Then, a pantograph model is established. When the pantograph is in operation, its window number and type are determined based on its position. The window containing the pantograph is represented by... Indicates that the anchor segment joint window is used express.

[0042] (1) The window where the pantograph is located is not the anchor joint window. When the pantograph is located in a window that is not an anchor joint window, only one contact model needs to be established. When the pantograph is located in the i-th window at E i-1 2 When the region is defined, the vibration state of the i-th window is calculated, including: the nodal displacement, velocity and acceleration of the catenary subsystem, the nodal displacement, velocity and acceleration of the contact wire subsystem, the compensating tension of the dropper, and the nodal displacement, velocity and acceleration of the pantograph.

[0043] When the pantograph is located at window E of the i-th window i 1 When dealing with a region, in addition to calculating the vibration state of the i-th window, it is also necessary to complete the vibration transmission from the i-th window to the (i+1)-th window. The specific steps are as follows: Step 1: Use the contact force of the i-th window to force vibration of the (i+1)-th window to obtain the initial vibration state of the (i+1)-th window, which is represented by "*".

[0044] Step 2: Set the value of E in the i-th window. i The vibration of the segment (including the nodal displacements of the contact wire subsystem and the catenary subsystem, as well as the tension of the dropper) is copied to E in the (i+1)th window. i part.

[0045] Press E i Segment and non-E i Segment (using N) i The nodal displacements of the contact wire subsystem (denoted by CW), the catenary subsystem (denoted by MW), and the dropper tension (denoted by d) of the i-th window are divided as follows: (2-1) In the formula, Let be the displacement of the load-bearing cable subsystem at time t in the i-th window. , They are respectively E i Segment and N i The displacement of the segment Let be the displacement of the contact wire subsystem at time t in the i-th window. , They are respectively E i Segment and N i The displacement of the segment For the tension of the suspension cable at time t in the i-th window, , They are respectively E i Segment and N i The suspension wire of the section compensates for the tension.

[0046] Press E i Segment and N i Duan Dui , and To perform the segmentation, the expression is: (2-2) E of the (i+1)th window i The vibration of the segment is equal to E of the i-th window. i Segment, N of the (i+1)th window i The segment's vibration is equal to the initial vibration. (Combined E) i Segment and N i By analyzing the data from segment i, the vibration of the (i+1)th window can be obtained, expressed as: (2-3) When the pantograph is located at window E of the i-th window i 1 and E i2 At the boundary of the region, the pantograph operating area of ​​the i-th window is calculated, and the window that interacts with the pantograph becomes the (i+1)-th window.

[0047] (2) The pantograph window is the anchor joint window. When the pantograph is located in an anchor segment joint window (still denoted as the i-th window), two contact models need to be established, resulting in two contact force components. Although the anchor segment joint window is a single entity, it contains the contact networks of two anchor segments. When solving the dynamic equations, the two contact networks need to be calculated separately, and the applied contact force term will be the corresponding contact force component rather than the resultant force.

[0048] When the pantograph is located at the E of the anchor joint window i-1 2 and E i r When calculating the area, firstly, the contact wire vibration state of anchor segment 1 and anchor segment 2 at the anchor segment joint window is calculated; then, based on the displacement and velocity of the contact point of the two anchor segments, the nodal displacement, velocity and acceleration of the pantograph are obtained.

[0049] When the pantograph is located at the E of the anchor joint window i 1 When calculating the area, first continue to calculate the vibration state of the anchor segment joint window, then force vibration on the (i+1)th window, and then move the contact network E of anchor segment 2 of the anchor segment joint window. i The segment vibration is copied to the (i+1)th window's E. i part.

[0050] When the pantograph is located at the E of the anchor joint window i 1 and E i 2 At the boundary of the region, the pantograph operating area of ​​the anchor joint window is calculated, and the window that interacts with the pantograph changes from the i-th window to the (i+1)-th window.

[0051] Based on the above steps, by continuously repeating the process according to the integration time variable t, the solution for the contact force throughout the entire process can be completed.

[0052] 2.2 Dual-bow operation When two pantographs are operating on the overhead contact line, the waves caused by the contact forces propagate along the contact line, and the contact forces of the two pantographs will affect each other. When the overhead contact line is divided into several sections, the two pantographs may be distributed in different sections, requiring appropriate methods to handle the influence relationship between the two pantographs. This paper assumes that the windows containing the front pantograph (denoted by FP) and the rear pantograph (denoted by RP) are the same window or adjacent windows.

[0053] When two pantographs are located in the same window, the total contact force of the window is equal to the sum of the contact forces of the two pantographs. Assume the front pantograph is located in the i-th window and the rear pantograph is located in the (i-1)-th window. The total contact force in the two windows at time t is calculated as follows: First, calculate the contact force of the front pantograph at time t based on the difference between the displacement and velocity of the contact point between the front pantograph and the i-th window at time t-∆t. Then, add the contact force of the rear pantograph at time t-∆t to obtain the total contact force of the i-th window at time t. Second, calculate the contact force of the rear pantograph at time t based on the difference between the displacement and velocity of the contact point between the rear pantograph and the (i-1)-th window at time t. Finally, add the contact force of the front pantograph at time t to obtain the total contact force of the (i-1)-th window at time t.

[0054] Similar to single-panel operation, when the pantograph is at the anchor section joint window, the pantograph interacts with the two contact wires, generating two contact forces. At this point, it is necessary to determine the appropriate contact force to apply to the window containing the other pantograph, based on its position.

[0055] When two pantographs are running on the overhead contact line, the execution scheme of the coupling window method is as follows: Step 1: First, the entire overhead contact system is divided. For ease of description, the contact wire subsystem and the catenary subsystem are unified under a single expression. Since the dropper compensation tensions of the contact wire and catenary subsystems cancel each other out, this load does not appear in the unified expression. When the pantograph operates on the anchor section joint window, it interacts with the two contact networks, and its contact force consists of two parts.

[0056] Step 2: Then, the window in which the two pantographs are located is determined based on their positions, and their position within the window. Since two pantographs are operating, the contact force of the window when both pantographs are in the same window is given by the following formula.

[0057] (2-4) In the formula, Let be the contact force of the overhead contact system at time t in the i-th window. , Let be the contact forces at time t, which are the i-th window of the front and rear arches, respectively. , These are the windows where the front and rear bows are located, respectively. , Let be the contact forces at time t for anchor segments 1 and 2 of the i-th window of the overhead contact system, respectively. , These are the contact forces of the front and rear arches of anchor segment 1 at the i-th window of the overhead contact line, respectively. , These are the contact forces of the front and rear arches of anchor segment 2 at the i-th window of the overhead contact line, respectively.

[0058] When the two pantographs are in different windows, the front pantograph is in the i-th window, and the contact force of the window is given by formula (2-5); the rear pantograph is in the (i-1)-th window, and the contact force of the window is given by formula (2-6).

[0059] (2-5) (2-6) In the formula, The window representing the front bow. The window representing the location of the bow. Represents the anchor joint window.

[0060] The operating procedure for the front bow is as follows: ① When the pantograph is located at E of the i-th window i-1 2 and E i r When calculating the region, the vibration state of the overhead contact line within the calculation window is determined.

[0061] ②The current bow enters the i-th window E i 1 When calculating the contact wire vibration state within a region, in addition to continuing to calculate the vibration state of the contact wire within the window, it is also necessary to complete the vibration transmission from the i-th window to the (i+1)-th window. The specific steps are as follows: i. Load the (i+1)th window using the contact force of the front bow.

[0062] ii. Set the value of E in the i-th window to... i 1 The nodal displacements and suspension compensation tensions of the region are copied to E in the (i+1)th window. i 1 area.

[0063] Therefore, E of the (i+1)th window i 1 The nodal displacement and suspension compensation tension of the region are equal to E of the i-th window. i 1 The region, the remaining region of the (i+1)th window (using N). i The nodal displacement and dropper compensation tension (represented by) are calculated from the contact force loading of the front bow, thus obtaining the nodal displacement and dropper compensation tension of the (i+1)th window.

[0064] ③The current bow leaves the i-th window at point E i 1 When the region is in the (i+1)th window, the front bow enters the (i+1)th window from the (i)th window.

[0065] The operating procedure for the rear bow is as follows: ① When the back bow is located in the (i-1)th window, calculate the vibration state of the back bow and the window it is in.

[0066] ②When the bow leaves the (i-1)th window E i-1 1 When the region is in the middle, the front bow has already completed the preparatory work for the i-th window, and the back bow enters the i-th window from the (i-1)-th window.

[0067] Step 3: By continuously cycling through the operating schemes of the front and rear pantographs, the solution for all windows can be completed, and the contact force of the two pantographs on the entire contact network can be obtained. Figure 4 The figure shows a calculation flowchart considering multiple anchor sections and double bow current collection.

[0068] Then, the calculation results of the method of this invention and the classical method were compared, such as... Figure 5 The figure shows the time-domain diagram of the contact force of the double-arched flexible contact network before its operation; as shown in the figure. Figure 6 The figure shows the time-domain diagram of the contact force of the double-arched contact wire in a simple chain-type flexible contact network before operation; as shown in the figure. Figure 7 The figure shows the time-domain diagram of the contact force of a single bow in the rigid contact network. The above analysis demonstrates the minimal error in the results compared to the classical method, indicating the effectiveness of the proposed method. Simultaneously, the computation time of the coupling window method and the classical method under different operating distances is analyzed. A simple chain-type flexible contact network was selected, the train speed was 350 km / h, the integration time step was 1 / 500 s, and the calculations were performed using the same computer. Figure 7 The figure shows a comparison of computation time between the coupled window method and the classical method. The results show that when the pantograph travels no more than 4 km, the computation time of the coupled window method is only 1 / 5 of that of the classical method. When the pantograph travels more than 4 km, the classical method cannot be used due to computer memory limitations, while the coupled window method can still perform the calculations. This demonstrates the significant computational efficiency advantage of the coupled window method compared to the classical method.

[0069] Example 2:

[0070] like Figure 2 As shown, this embodiment provides a fast calculation system for pantograph-catenary dynamics simulation based on a coupling window. See [link to documentation]. Figure 2 The system includes: Modeling module 701: is used to divide the entire contact network into multiple windows along the pantograph's running direction. Each window includes the running section and the overlapping area with adjacent windows. A finite element model is established for each window to perform shape finding. Module 702: Used to establish the pantograph dynamics model; Positioning module 703: used to determine the current window and window type of the pantograph based on its real-time position, wherein the window type includes a normal window and an anchor joint window; Calculation and solution module 704: It is used to calculate the contact force between the pantograph and the corresponding contact wire at the current moment according to the type of the current window, and to solve the vibration state of the contact wire and pantograph in the current window. Loading switching module 705: When the pantograph runs to the overlapping area of ​​the current window, it uses the contact force of the current window to force vibration loading on the adjacent next window, and copies the node displacement of the contact network subsystem and the dropper compensation tension in the overlapping area of ​​the current window to the corresponding overlapping area of ​​the next window, so as to complete the vibration transmission between windows; Simulation output module 706: When the pantograph runs to the boundary of the overlapping area between the current window and the next window, it switches the interaction window of the pantograph to the next window and repeats steps S3 to S6 until the pantograph-catenary dynamics simulation of the entire contact network is completed, and outputs the full contact force time history data.

[0071] Specifically, it also includes a dual-panel coupling module, which is used to set the windows where the front and rear pantographs are located to be the same window or adjacent windows when two pantographs, the front pantograph and the rear pantograph, are running simultaneously on the contact network. When two pantographs are located in the same window, the total contact force of that window is configured as the sum of the contact force of the front pantograph and the contact force of the rear pantograph. When two pantographs are located in adjacent windows, the contact force of the current pantograph is calculated based on the difference between the displacement and velocity of the contact point between the current pantograph and the window at the previous integration time, and the contact force of the other pantograph at the corresponding time is added to obtain the total contact force of each window. The contact network includes flexible contact network and rigid contact network.

[0072] It should be noted that the specific methods by which each module performs operations in the system described in the above embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0073] Example 3:

[0074] Corresponding to the above method embodiments, this embodiment also provides a fast calculation device for pantograph-catenary dynamics simulation based on a coupling window. The fast calculation device for pantograph-catenary dynamics simulation based on a coupling window described below can be referred to in correspondence with the fast calculation method for pantograph-catenary dynamics simulation based on a coupling window described above.

[0075] Figure 3 This is a block diagram illustrating a fast calculation device 800 for pantograph-catenary dynamics simulation based on a coupling window, according to an exemplary embodiment. Figure 3As shown, the fast calculation device 800 for pantograph-catenary dynamics simulation based on a coupled window includes a processor 801 and a memory 802. The fast calculation device 800 also includes one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0076] The processor 801 controls the overall operation of the fast calculation device 800 for pantograph-catenary dynamics simulation based on a coupled window, to complete all or part of the steps in the aforementioned fast calculation method for pantograph-catenary dynamics simulation based on a coupled window. The memory 802 stores various types of data to support the operation of the fast calculation device 800 for pantograph-catenary dynamics simulation based on a coupled window. This data may include, for example, instructions for any application or method operating on the device, as well as application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 802 can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 802 or transmitted via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. I / O interface 804 provides an interface between processor 801 and other interface modules, such as a keyboard, mouse, or buttons. These buttons can be virtual or physical. Communication component 805 is used for wired or wireless communication between the coupling window-based pantograph-catenary dynamics simulation fast calculation device 800 and other devices. Wireless communication includes, for example, Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination thereof. Therefore, the corresponding communication component 805 may include a Wi-Fi module, a Bluetooth module, or an NFC module.

[0077] In an exemplary embodiment, the fast calculation device 800 for pantograph-catenary dynamics simulation based on a coupling window can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the aforementioned fast calculation method for pantograph-catenary dynamics simulation based on a coupling window.

[0078] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a processor, these program instructions implement the steps of the fast calculation method for pantograph-catenary dynamics simulation based on a coupled window described above. For example, the computer-readable storage medium may be the memory 802 including the program instructions described above. These program instructions may be executed by the processor 801 of the fast calculation device 800 for pantograph-catenary dynamics simulation based on a coupled window to complete the fast calculation method for pantograph-catenary dynamics simulation based on a coupled window described above.

[0079] Example 4:

[0080] Corresponding to the above method embodiments, this embodiment also provides a readable storage medium. The readable storage medium described below corresponds to the fast calculation method for bow-catenary dynamics simulation based on coupling window described above.

[0081] A computer program is stored on a readable storage medium, and when the computer program is executed by a processor, it implements the steps of the fast calculation method for pantograph-catenary dynamics simulation based on the coupling window described in the above method embodiment.

[0082] Specifically, the readable storage medium can be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or any other readable storage medium capable of storing program code.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A fast calculation method for pantograph-catenary dynamics simulation based on a coupling window, characterized in that, include: Step S1: Divide the entire contact network into multiple windows along the pantograph's running direction. Each window includes the running section and the overlapping area with adjacent windows. Establish a finite element model for each window to perform shape finding. Step S2: Establish a pantograph dynamic model; Step S3: Determine the current window and window type of the pantograph based on its real-time position, where the window type includes a normal window and an anchor joint window; Step S4: Based on the type of the current window, calculate the contact force between the pantograph and the corresponding contact wire at the current moment, and solve for the vibration state of the contact wire and pantograph in the current window; Step S5: When the pantograph moves to the overlapping area of ​​the current window and the next window, the contact force of the current window is used to force vibration loading on the adjacent next window, and the node displacement of the contact network subsystem and the dropper compensation tension in the overlapping area of ​​the current window are copied to the corresponding overlapping area of ​​the next window to complete the vibration transmission between windows. Step S6: When the pantograph moves to the boundary of the overlapping area between the current window and the next window, switch the interaction window of the pantograph to the next window, and repeat steps S3 to S6 until the pantograph-catenary dynamics simulation of the entire contact network is completed and the full contact force time history data is output.

2. The fast calculation method for pantograph-catenary dynamics simulation based on a coupling window as described in claim 1, characterized in that, In step S5, the specific steps for completing the vibration transmission between windows include: Using the contact force calculated in the current window, forced vibration calculation is performed on the next window to obtain the initial vibration state of the non-overlapping region in the next window; Copy the nodal displacements of the catenary subsystem, the nodal displacements of the contact wire subsystem, and the compensating tension of the droppers within the current window's overlapping area to the corresponding overlapping area of ​​the next window; The initial vibration state of the non-overlapping region of the next window is merged with the vibration state of the already copied overlapping region to form the complete vibration state of the next window.

3. The fast calculation method for pantograph-catenary dynamics simulation based on a coupling window according to claim 1, characterized in that, In step S4, when the current window is a normal window, the normal window is divided into a front running area, an overlapping area and a rear running area along the pantograph running direction. When the pantograph is in the forward operating zone, calculate the vibration state of the contact wire and pantograph in the current window; When the pantograph is in the overlapping area, while calculating the vibration state of the current window, step S5 is executed to force the next window to vibrate using the contact force of the current window, and the node displacement of the contact wire subsystem and the dropper compensation tension in the overlapping area of ​​the current window are copied to the corresponding area of ​​the next window. When the pantograph is located at the boundary between the overlapping area and the subsequent operating area, the interaction window of the pantograph is switched to the next window.

4. The fast calculation method for pantograph-catenary dynamics simulation based on a coupling window according to claim 1, characterized in that, When the current window is an anchor segment joint window, the anchor segment joint window includes the contact wires of two adjacent anchor segments, namely the first anchor segment contact wire and the second anchor segment contact wire. The contact wires of the two anchor segments are independent of each other, and the remaining amount after the anchor segment is divided is included in the anchor segment joint window. In step S4, contact models of the pantograph with the first anchor section contact network and the second anchor section contact network are established respectively. The two contact components are calculated respectively, and the vibration state of the two anchor section contact networks is solved separately. The response of the pantograph is solved based on the displacement and velocity of the two anchor section contact points. When the pantograph is located in the front running zone and the internal transition zone of the anchor section joint window, calculate the vibration state of the first anchor section contact wire and the second anchor section contact wire respectively. When the pantograph is located in the overlapping area of ​​the joint window of the anchor section, the vibration state of the two anchor sections of the contact network continues to be calculated. At the same time, the contact component of the second anchor section of the contact network is used to force vibration loading on the next window, and the node displacement of the second anchor section of the contact network in the overlapping area and the dropper compensation tension are copied to the corresponding area of ​​the next window. When the pantograph moves to the boundary between the overlapping area and the subsequent operating area, the interaction window is switched to the next window.

5. The fast calculation method for pantograph-catenary dynamics simulation based on a coupling window according to claim 4, characterized in that, When the pantograph moves to the overlapping area of ​​the previous window of the anchor section joint window, the contact force of the previous window is used to force vibration loading on the first anchor section contact wire of the anchor section joint window, and the node displacement of the contact wire subsystem and the dropper compensation tension in the overlapping area of ​​the previous window are copied to the corresponding area of ​​the anchor section joint window to complete the vibration pre-preparation before entering the anchor section joint window.

6. The fast calculation method for pantograph-catenary dynamics simulation based on a coupling window according to claim 1, characterized in that, When two pantographs, a front pantograph and a rear pantograph, are running simultaneously on the contact wire, the windows where the front pantograph and the rear pantograph are located are set to be the same window or adjacent windows. When two pantographs are located in the same window, the total contact force of that window is equal to the sum of the contact forces of the front and rear pantographs. The total contact force is used as the external excitation for solving the dynamic equation of the catenary in that window.

7. The fast calculation method for pantograph-catenary dynamics simulation based on a coupling window according to claim 1 or 6, characterized in that, When the current bow is located in the current window and the subsequent bow is located in the previous adjacent window, the total contact force of all windows is determined according to the following temporal coupling relationship: The contact force of the front bow at the current integration moment is calculated based on the difference between the displacement and velocity of the contact point between the front bow and the current window at the previous integration moment, and the contact force of the rear bow at the previous integration moment is added to obtain the total contact force of the current window at the current integration moment. The contact force of the rear bow at the current integration time is calculated based on the difference in displacement and velocity between the rear bow and the contact point of the previous adjacent window at the previous integration time, and the contact force of the front bow at the current integration time is added to obtain the total contact force of the previous adjacent window at the current integration time. Based on the total contact force of the current window and the previous adjacent window, the vibration state of the corresponding window is solved, and the calculation formula for the temporal coupling relationship is as follows: Among them, the contact force of the front bow and the contact force of the rear bow are calculated based on the difference between the displacement and velocity of the contact point between the bow and the window at the previous integration moment, and the superscript of the rear bow indicates the previous integration moment. The front bow performs vibration transmission and pre-preparation for its next window according to step S5. After the rear bow completes the calculation in the current window, it directly enters the adjacent window that has been pre-prepared by the front bow.

8. The fast calculation method for pantograph-catenary dynamics simulation based on a coupling window according to claim 1, characterized in that, Each window's two-end boundaries are subject to fully fixed constraints, constraining all degrees of freedom of the catenary, elastic suspenders, and contact wire boundary nodes.

9. A fast calculation system for pantograph-catenary dynamics simulation based on a coupled window, based on the fast calculation method for pantograph-catenary dynamics simulation based on a coupled window as described in claim 1, characterized in that, include: The modeling module is used to divide the entire contact network into multiple windows along the pantograph's running direction. Each window includes the running section and the overlapping area with adjacent windows. A finite element model is built for each window to perform shape finding. Establishment module: Used to establish the pantograph dynamics model; Positioning module: used to determine the current window and window type of the pantograph based on its real-time position, including normal window and anchor joint window; The calculation and solution module is used to calculate the contact force between the pantograph and the corresponding contact wire at the current moment based on the type of the current window, and to solve the vibration state of the contact wire and pantograph in the current window. Loading switching module: When the pantograph moves to the overlapping area of ​​the current window, it uses the contact force of the current window to force vibration loading on the next adjacent window, and copies the node displacement of the catenary subsystem and the dropper compensation tension in the overlapping area of ​​the current window to the corresponding overlapping area of ​​the next window to complete the vibration transmission between windows; Simulation output module: When the pantograph moves to the boundary of the overlapping area between the current window and the next window, it switches the interaction window of the pantograph to the next window and repeats steps S3 to S6 until the pantograph-catenary dynamics simulation of the entire contact network is completed, and outputs the full contact force time history data.

10. The fast calculation system for pantograph-catenary dynamics simulation based on a coupling window according to claim 9, characterized in that, It also includes a dual-panel coupling module, which is used to set the windows where the front and rear pantographs are located as the same window or adjacent windows when two pantographs, the front pantograph and the rear pantograph, are running simultaneously on the contact network. When two pantographs are located in the same window, the total contact force of that window is configured as the sum of the contact force of the front pantograph and the contact force of the rear pantograph. When two pantographs are located in adjacent windows, the contact force of the current pantograph is calculated based on the difference between the displacement and velocity of the contact point between the current pantograph and the window at the previous integration time, and the contact force of the other pantograph at the corresponding time is added to obtain the total contact force of each window. The contact network includes flexible contact network and rigid contact network.

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