A method and device for automatically controlling multi-degree-of-freedom action of a side plow of a ball distributing and shaping vehicle

Abstract

A kind of automatic control method and device of multiple degrees of freedom action of ball distributing and shaping vehicle side plough, in order to improve the automation degree and control precision of ball distributing and shaping vehicle side plough control, position sensor is set to each movement position of side plough, and the movement of each position is automatically controlled by closed-loop feedback.According to the use of side plough, define locking position, work preparation position and self-defined work position, and through the operation of automatic retracting and releasing switch, the automatic conversion of side plough from any position to the above three positions can be realized.The present application monitors the specific position of each mechanism of side plough through sensor, and accurately controls the action of side plough according to the mechanism position, to realize the automatic control of side plough.

Description

Technical Field

[0001] This invention belongs to the field of large-scale road maintenance machinery vehicle control and mechanical automation control, specifically a method for automatic control of multi-degree-of-freedom actions of a ballast shaping vehicle's side plow. Background Technology

[0002] The ballast shaping car is mainly used for ballast preparation, shaping, and cleaning of railway tracks, and is one of the supporting machines for large-scale mechanized operations in railway construction, overhaul, and maintenance. The side plow of the ballast shaping car is mainly used for shaping left and right slopes, enabling mutual displacement between the sleeper-end ballast and the slope ballast. In conjunction with the center plow, it forms a ballast shoulder, restoring the track slope to the designed gradient. The side plow comprises five moving parts with a total of 10 degrees of freedom: sliding plate flipping and rising / falling, sliding sleeve extension and retraction, vertical plate inward and outward swing, front wing plate inward and outward rotation, and rear wing plate inward and outward rotation. Traditional side plow control requires setting separate action control switches for each degree of freedom. Switching the side plow's spatial state is achieved by sequentially operating each switch control mechanism, resulting in a low degree of automation. The multi-degree-of-freedom motion of the side plow makes operation relatively cumbersome. It requires switching operating switches repeatedly to control different mechanisms of the side plow, and the movements of each degree of freedom affect each other. Improper operating sequence can easily lead to collisions between the side plow and other vehicle mechanisms or trackside equipment, posing a safety hazard. Controlling the side plow's status during operation is mainly achieved through personnel observation and adjustments based on the post-operation slope effect. Changes in the side plow's position will affect the accuracy and consistency of the operation. Summary of the Invention

[0003] The purpose of this invention is to solve the above-mentioned problems and shortcomings, and to provide an automatic control method for the multi-degree-of-freedom movement of the side plow of a ballast shaping vehicle. By monitoring the specific position of each mechanism of the side plow through sensors, the side plow movement is precisely controlled according to the position of the mechanism, thereby realizing the automatic control of the side plow.

[0004] An automatic control method for the multi-degree-of-freedom motion of the side plow of a ballast shaping vehicle includes the following steps:

[0005] S1. Read control parameters, including target position parameters.

[0006] The target position parameters are defined by the combination of sensor values ​​from the position sensors installed on each moving part of the side plow. Each target position parameter includes five parameters: the extension length of the tilting cylinder, the extension length of the sliding sleeve, the tilt angle of the upright plate, the angle of the front wing plate, and the angle of the rear wing plate. The target position is the three positions where the side plow is usually parked: the locked position, the work preparation position, and the custom work position.

[0007] S2. Read the control commands input by the operator and acquire the current status data of each moving part of the side plow through the position sensor.

[0008] S3. Calculate the current state of the side plow and the fulfillment of the logic interlock based on the current state data of each moving part of the side plow, and obtain the side plow state transition permission by combining the input control command;

[0009] If it is determined that the current side plowing does not allow state transitions, then all side plowing actions are stopped;

[0010] If it is determined that the current side plowing allows for a state transition, the target position for the action transition is obtained by combining the input control command, and the corresponding action sequence is selected and executed according to the target position; if the target position is a locked position, the locked position action sequence is executed; if the target position is a work preparation position, the work preparation position action sequence is executed; if the target position is a custom work position, the custom work position action sequence is executed.

[0011] S4. Perform interlocking judgment on the output results of the action sequence to avoid outputting contradictory control actions;

[0012] S5, Output control results.

[0013] 2. The automatic control method for multi-degree-of-freedom movement of the ballast shaping vehicle side plow in claim 1, characterized in that: the control command in step S2 includes an automatic retraction command and an automatic release command;

[0014] When the automatic retract command is entered, the target position is the lock position 5.10.1; when the automatic release command is entered, if the current position is not in the work preparation position, the target position is the work preparation position 5.10.2; if the side plow is already in the work preparation position, after entering the automatic release command, the target position is the custom work position 5.10.3.

[0015] In steps S1 and S2, the moving parts of the side plow include the side plow slide plate, the side plow sleeve, the side plow upright plate, and the wing plates, with the wing plates including the front wing plate and the rear wing plate. Position sensors include: a tilting cylinder extension length sensor, a sleeve extension length sensor, an upright plate tilt angle sensor, a front wing plate rotation angle sensor, and a rear wing plate rotation angle sensor. Under the action of the tilting cylinder, the side plow slide plate tilts upwards or downwards around a fixed axis. One end of the tilting cylinder extension length sensor is fixed to the tilting cylinder body, and the other end is fixed to the slide plate, measuring the extension length of the tilting cylinder to monitor the tilting and rising / falling position. Under the action of the sleeve extension cylinder, the side plow sleeve extends or retracts along the side plow slide plate. One end of the sleeve extension length sensor is fixed to the slide plate, and the other end is fixed to the sleeve, measuring the relative extension length of the sleeve to the sliding cylinder. The displacement of the plate, i.e., the extension length of the sliding sleeve, is used to monitor the extension and retraction position of the sliding sleeve; the side plow plate rotates inward or outward along a fixed axis under the action of the plate tilting cylinder. The plate tilting sensor is installed above the plate to measure the angle of rotation of the plate around the fixed axis, i.e., the plate tilting angle, which is used to monitor the rotation position of the plate; the front wing plate rotates inward or outward along a fixed axis under the action of the front wing plate tilting cylinder. The front wing plate rotation angle sensor is installed at the end of the pin connecting the front wing plate and the plate to obtain the angle of rotation of the front wing plate relative to the pin, which is used to monitor the inward and outward rotation position of the front wing plate; the rear wing plate rotates inward or outward along a fixed axis under the action of the rear wing plate tilting cylinder. The rear wing plate rotation angle sensor is installed at the end of the pin connecting the rear wing plate and the plate to obtain the angle of rotation of the rear wing plate relative to the pin, which is used to monitor the inward and outward rotation position of the rear wing plate.

[0016] In step S3, the current state of the side plow and the fulfillment of logical chains are calculated based on the state data of each part of the side plow. The current state of the side plow is determined by comparing the state data of each part of the side plow at the current position with the state data of each part at the target position. The current state of the side plow includes: locked state, work preparation state, custom work state, and transition state.

[0017] Logical chain conditions include:

[0018] (1) The sliding sleeve must extend by a length L when the side plow flips up and down to avoid interference between the sliding sleeve and the locking mechanism D during operation; (2) The angle between the front and rear wing plates when the side plow flips up and down must be greater than angle a to avoid interference between the wing plates and the vehicle body during operation; (3) The length of the rotating cylinder must be less than the length M when the wing plates and vertical plates are adjusted to avoid damage to the track bed during operation; (4) The vehicle should currently allow the side plow to switch states: the vehicle control system has no emergency stop signal input and is not in high-speed driving condition. L, a, and M are obtained directly through observation.

[0019] In step S5, the corresponding action solenoid valves of the hydraulic system 33 are controlled in the order of the action sequence to realize the corresponding actions of each moving part of the side plow. The next moving part will only be moved after the previous moving part has completed its action.

[0020] The control parameters in step S1 also include position tolerance, which is divided into angle tolerance and distance tolerance. During the movement of each moving part of the side plow, when the difference between the current state data obtained in real time by the position sensor corresponding to the moving part and the parameter corresponding to the moving part in the target position parameters is less than the position tolerance, it is determined that the moving part has reached the position.

[0021] In step S4, if two opposite movements of the same moving part are effective at the same time, then both movements of the same moving part are cancelled.

[0022] An automatic control device for the multi-degree-of-freedom movement of a ballast shaping vehicle's side plow includes a control system. The control system has system inputs, a human-machine interface (HMI), and system outputs. System inputs include control commands from the user and electrical signals from position sensors of various moving parts of the side plow. The HMI is used for inputting operation commands and displaying system status. The operator configures the side plow's status parameters in locked, ready-to-work, and custom-defined work positions via the HMI. Each position includes five parameters: the extension length of the tilting cylinder, the extension length of the sliding sleeve, the tilt angle of the upright plate, the angle of the front wing plate, and the angle of the rear wing plate. Additionally, the HMI can input the position tolerance of the position control system. The HMI displays the current set parameters for each position, the real-time status of each part of the side plow, and the currently controlling moving part. The control system calculates the action to be performed based on the currently input control commands, sensor values, and set parameters. The system output energizes the corresponding solenoid valve in the hydraulic system, thus changing the side plow's position.

[0023] There are two ways to input parameters: one is to directly input the parameter values; the other is to operate the side plow to move to the corresponding position, click the position memory on the human-machine interface, and save the current state of the side plow and the values ​​of each sensor as the position parameters of the locked position, the work preparation position, or the custom work position.

[0024] To improve the control accuracy of the side plowing action, a tilting cylinder extension length sensor is installed for the sliding plate tilting, rising and falling action, a sliding sleeve extension length sensor is installed for the sliding sleeve extension and retraction action, a vertical plate tilt angle sensor is installed for the vertical plate inward and outward rotation action, and a front wing plate angle sensor and a rear wing plate angle sensor are installed for the front and rear wing plates inward and outward rotation action, respectively. The position status of the side plow is monitored in real time through the above sensors to realize closed-loop control of the mechanism's position action.

[0025] Based on actual usage of the side plow, three commonly used parking positions for the vehicle's side plow are defined: the locked position, the work preparation position, and the custom working position. When the vehicle is running at high speed, the side plow needs to be retracted and reliably secured to the frame to prevent excessive movement during operation; this is the locked position. The work preparation position is when the side plow is lowered from the frame's locked position to a horizontal position, just before contacting the ballast. The custom working position is when the side plow is lowered to contact the ballast slope during operation; the custom working position can be adjusted according to the slope angle control requirements.

[0026] The three positions correspond to different extension lengths of the tilting cylinder, extension length of the sliding sleeve, tilt angle of the upright plate, angle of the front wing plate, and angle of the rear wing plate. The state of each position can be defined by the combination of sensor values, namely: locked position (tilting cylinder extension length, sliding sleeve extension length, upright plate tilt angle, front wing plate angle, and rear wing plate angle), work preparation position (tilting cylinder extension length, sliding sleeve extension length, upright plate tilt angle, front wing plate angle, and rear wing plate angle), and custom work position (tilting cylinder extension length, sliding sleeve extension length, upright plate tilt angle, front wing plate angle, and rear wing plate angle).

[0027] The parameters for the three positions can be edited through the human-machine interface, and there are two editing methods: one is to directly input the five position parameters to complete the setting; the other is to operate the side plow to move to the corresponding state, click the position memory on the human-machine interface, and save the sensor values ​​of the current state of the side plow as the locked position, work preparation position or custom work position parameters. The parameters will be saved after being set.

[0028] With automatic control, only one automatic retraction / release switch is needed to automatically control the side plow. The automatic side plow control system determines the target position based on the operator's input of an automatic retraction or automatic release command. After the operator inputs the automatic retraction command, the side plow will automatically transition from its current state to the locked position and stop upon reaching it. After the operator inputs the automatic release command, if the side plow is not in the work-ready position, it will transition to the work-ready position and stop upon reaching it. If the side plow is already in the work-ready position, upon receiving the automatic release command, it will transition from the work-ready position to the user-defined work position and stop upon reaching it. Automatic control effectively reduces the number of operations required by the operator, and controlling the side plow operation through user-defined positions effectively improves operational accuracy and ensures consistent operational results.

[0029] The automatic side-plowing control system executes a sequence of actions based on the target position. This sequence consists of the sequential movements of various parts, each controlled by a motion control system. The movements of each part are pre-set in a specific order; the next part will only move after the previous one has completed its action, ensuring the automatic extension and retraction of the side-plowing mechanism and preventing collisions with other parts of the vehicle. The automatic side-plowing control system incorporates pre-output interlock protection to prevent simultaneous outputs from two solenoid valves operating on the same part, ensuring safe and reliable control. The system also features position tolerances, including angular and distance tolerances, which can be input via the human-machine interface. During motion control, when the sensor detects a position less than the tolerance from the target position, the mechanism is considered to be in position. Adjusting the tolerance value prevents the mechanism from repeatedly adjusting around the target position during actual control, thus avoiding oscillations and effectively improving the stability of the automatic side-plowing control system. Attached Figure Description

[0030] Figure 1 One of the structural schematic diagrams of the side plow device for a ballast shaping vehicle;

[0031] Figure 2 Schematic diagram of the side plow device for the ballast shaping vehicle (Part 2);

[0032] Figure 3 Schematic diagram three of the structure of the side plow device for the ballast shaping vehicle;

[0033] Figure 4 A schematic diagram showing the side plow locking position, work preparation position, and custom work position for the ballast shaping vehicle;

[0034] Figure 5 This is a block diagram of the position control system for each moving part of the side plow;

[0035] Figure 6 This is a block diagram of the automatic control system for side plowing;

[0036] Figure 7 This is a flowchart of the automatic control process for a side plow. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0038] Figure 1-3The demonstration showcases the degrees of freedom of movement and corresponding position monitoring sensors for each part of the side plow on the ballast shaping vehicle. The side plow slide plate 1 can tilt upwards or downwards around a fixed axis under the action of the tilting cylinder 11. A tilting cylinder extension length sensor 6, with one end fixed to the cylinder body and the other end fixed to the slide plate, measures the extension length of the tilting cylinder, used to monitor the tilting and rising / falling positions. The side plow sleeve 2 can extend or retract along the side plow slide plate under the action of the sleeve extension cylinder 12. A sleeve extension length sensor 7, with one end fixed to the slide plate and the other end fixed to the sleeve, measures the displacement of the sleeve relative to the slide plate, i.e., the sleeve extension length, used to monitor the sleeve extension / retraction position. The side plow upright plate 3 can rotate inwards or outwards around a fixed axis under the action of the upright plate tilting cylinder 13. An upright plate tilt angle sensor 8, installed above the upright plate, measures the angle of rotation of the upright plate around the fixed axis, i.e., the upright plate tilt angle, used to monitor the upright plate's rotation position. The front wing plate 4 can rotate inward or outward along a fixed axis under the action of the front wing plate tilting cylinder 14. The front wing plate rotation angle sensor 9 is installed at the end of the connecting pin between the front wing plate and the vertical plate, which can obtain the angle of rotation of the front wing plate relative to the pin, and is used to monitor the inward and outward rotation position of the front wing plate. The rear wing plate 5 can rotate inward or outward along a fixed axis under the action of the rear wing plate tilting cylinder 15. The rear wing plate rotation angle sensor 10 is installed at the end of the connecting pin between the rear wing plate and the vertical plate, which can obtain the angle of rotation of the rear wing plate relative to the pin, and is used to monitor the inward and outward rotation position of the rear wing plate. The motion state of each part is converted into electrical signals by the sensors and input to the control system. The state of each part corresponds one-to-one with the sensor value, realizing the real-time acquisition of the state of each part of the side plow.

[0039] Figure 4 The diagram illustrates the states of the side plow in locked position 21, ready-to-operate position 22, and custom working position 23. Locked position 21 is when the side plow slide is flipped up to be flush with the frame, the sliding sleeve retracts, the upright plate rotates inward, and the front and rear fenders rotate inward into the locking stop. Once in this position, the side plow locking switch can be operated directly to lock the side plow. Ready-to-operate position 22 is when the side plow slide is flipped down to a horizontal position, the sliding sleeve extends, the upright plate is vertical, and the front and rear fenders and the upright plate are on the same plane. At this point, the plow plate has not yet contacted the ballast, facilitating adjustment of the plow plate angle. Custom working position 23 is the state during side plowing operation. In this position, the slide is further flipped down, causing the plow plate to contact the ballast of the track bed slope. Adjusting the position of the front and rear fenders at this point controls the track bed operating range, and adjusting the upright plate angle restores the slope angle.

[0040] Figure 5 This is a block diagram of the position control system for each moving part of the side plow. The system input is the target position 31, and feedback is introduced through the position sensor 35. The position controller 32 controls the corresponding action solenoid valve of the hydraulic system 33 to realize the mechanism action 34 by comparing the difference between the target position and the actual position. The introduction of feedback realizes closed-loop control, which improves the position control accuracy.

[0041] Figure 6This is a block diagram of the automatic control system for the side plow. The automatic control system for the side plow (hereinafter referred to as the control system) 41 includes system inputs 42, a human-machine interface 44, and system outputs 43. System inputs 42 mainly include the input of control commands from the equipment user and the input of electrical signals from the position monitoring sensors of various parts of the side plow. The human-machine interface 44 is mainly used for inputting operation commands and displaying system status. The operator can configure the status parameters of the side plow in the locked position 21, the work preparation position 22, and the custom work position 23 through the human-machine interface. Each position includes five parameters: the extension length of the tilting cylinder, the extension length of the sliding sleeve, the tilt angle of the upright plate, the angle of the front wing plate, and the angle of the rear wing plate. Parameter input includes two methods: one is to directly input the parameter values; the other is to operate the side plow to the corresponding position, click the position memory on the human-machine interface, and save the current state of the side plow and the sensor values ​​as the position parameters of the locked position 21, the work preparation position 22, or the custom work position 23. In addition, the human-machine interface allows input of the control system's position tolerance. During the control of each moving part of the side plow, when the difference between the sensor-detected position and the target position is less than the position tolerance, it is determined that the mechanism has reached its position. By adjusting the tolerance value, the mechanism can avoid oscillations caused by repeated adjustments around the target position during actual control. The human-machine interface mainly displays the current set parameters for each position, the real-time status of each part of the side plow, and the currently active part under automatic control. The control system calculates the action to be performed based on the currently input control command, sensor values, and set parameters. The system outputs 43 to energize the corresponding solenoid valve in the hydraulic system, thereby realizing the change of the side plow's position.

[0042] Figure 7 This is the control flowchart of the side plow automatic control system. After the system is powered on, it first performs initialization (5.2), reading the saved target position parameters and position tolerances as control parameters. After initialization, the system reads the input control commands and signals from each sensor (5.3).

[0043] Step 5.4 Calculate the current state of the side plow and the logical chain satisfaction based on the position of each part of the side plow. By comparing the current position state data of each part of the side plow with the target position state data, the current state of the side plow is determined, including: locked state, work preparation state, custom work state and transition state. The logical chain mainly includes: (1) the side plow must extend a certain length when it flips up and down to avoid interference between the sliding sleeve and the locking mechanism D during the operation; (2) the angle of the front and rear wing plates when the side plow flips up and down must be greater than a certain value to avoid interference between the wing plates and the vehicle body during the operation; (3) the length of the rotating cylinder must be less than a certain value when the wing plates and the upright plates are adjusted to avoid damage to the track bed; (4) the vehicle should currently allow the side plow to perform state transition: the vehicle control system has no emergency stop signal input and is not in high-speed driving condition.

[0044] If the current side plow does not allow state transitions, then step 5.6 stops all side plow actions, then step 5.7 outputs the control result, energizes the mechanism's solenoid valve, activates the side plow mechanism, updates the state, and finally ends the current cycle 5.8. When action transitions are allowed, the target position 5.9 is obtained by combining the input control command. When an automatic retraction command is input, the target position is the locked position 5.10.1. When an automatic release command is input, if the current position is not in the work preparation position, the target position is the work preparation position 5.10.2. If the side plow is already in the work preparation position, after inputting the automatic release command, the target position is the custom work position 5.10.3. Then, the corresponding action sequence is executed according to the target position 5.9.

[0045] If the target position is the locked position 5.10.1, then the locking position action sequence 5.11.1 is executed. The locking position action sequence mainly includes: side plow flipping up to meet wing plate adjustment → front and rear wing plate adjustment → side plow flipping up as a whole → sliding sleeve extending to meet side plow flipping up → side plow flipping up to the locked position → sliding sleeve retracting to the locked position → vertical plate rotating inward to the locked position → front and rear wing plates rotating inward to the locked position. Among them, the side plow flipping up to meet wing plate adjustment and the sliding sleeve extending to meet side plow flipping up are the prerequisite steps for the front and rear wing plate adjustment and the side plow flipping up to the locked position, which are used to ensure that the logical interlock in step 5.4 is met. All actions are executed in sequence, and the subsequent actions are executed only after the previous action is in place.

[0046] If the target position is the work preparation position 5.10.2, then execute the work preparation position action sequence 5.11.2. The work preparation position action sequence mainly includes: moving the front and rear wing plates to the work preparation position → extending the sliding sleeve to the work preparation position → lowering the side plow to the work preparation position → moving the upright plate to the work preparation position. All actions are executed in sequence, and the subsequent actions are executed only after the previous action has been completed.

[0047] If the target position is the custom operation position 5.10.3, then execute the custom operation position action sequence 5.11.3. The custom operation position action sequence mainly includes: moving the upright plate to the custom operation position → moving the front and rear wing plates to the custom operation position → adjusting the sliding sleeve to the custom operation position → tilting the side plow down to the custom operation position. All actions are executed in sequence, and the subsequent actions are executed only after the previous action has been completed.

[0048] Step 5.12 will re-evaluate the output of the action sequence. If two opposite actions in the same location are simultaneously effective (e.g., ...), ... Figure 4 If the extension and retraction of the middle sliding sleeve are both effective, then both actions at the same location are invalid, avoiding simultaneous output from the solenoid valve of two actions at the same location, which could lead to conflicting control actions. Then, step 5.7 is executed to output the control result, and finally the current cycle 5.8 ends. The same location refers to the same moving part of the side plow.

Claims

1. An automatic control method for the multi-degree-of-freedom movement of the side plow of a ballast shaping vehicle, characterized in that: Includes the following steps: S1. Read control parameters, including target position parameters. The target position parameters are defined by the combination of sensor values ​​from the position sensors installed on each moving part of the side plow. Each target position parameter includes five parameters: the extension length of the tilting cylinder, the extension length of the sliding sleeve, the tilt angle of the upright plate, the angle of the front wing plate, and the angle of the rear wing plate. The target position is the three positions where the side plow is usually parked: the locked position, the work preparation position, and the custom work position. S2. Read the control commands input by the operator and acquire the current status data of each moving part of the side plow through the position sensor. S3. Calculate the current state of the side plow and the fulfillment of the logic interlock based on the current state data of each moving part of the side plow, and obtain the side plow state transition permission by combining the input control command; If it is determined that the current side plowing does not allow state transitions, then all side plowing actions are stopped; If it is determined that the current side plowing allows for a state transition, the target position for the action transition is obtained by combining the input control command, and the corresponding action sequence is selected and executed according to the target position; if the target position is a locked position, the locked position action sequence is executed; if the target position is a work preparation position, the work preparation position action sequence is executed; if the target position is a custom work position, the custom work position action sequence is executed. S4. Perform interlocking judgment on the output results of the action sequence to avoid outputting contradictory control actions; S5, Output control results.

2. The automatic control method for multi-degree-of-freedom movement of the ballast shaping cart's side plow according to claim 1, characterized in that: The S2 control commands in the steps include automatic retraction commands and automatic release commands; When the automatic retract command is entered, the target position is the lock position 5.10.1; when the automatic release command is entered, if the current position is not in the work preparation position, the target position is the work preparation position 5.10.2; if the side plow is already in the work preparation position, after entering the automatic release command, the target position is the custom work position 5.10.

3.

3. The automatic control method for multi-degree-of-freedom movement of the ballast shaping cart's side plow according to claim 1, characterized in that: In steps S1 and S2, the moving parts of the side plow include the side plow slide plate (1), the side plow sleeve (2), the side plow upright plate (3), and the wing plate, which includes the front wing plate (4) and the rear wing plate (5). The position sensors include: the overturning cylinder extension length sensor (6), the sleeve extension length sensor (7), the upright plate tilt angle sensor (8), the front wing plate rotation angle sensor (9), and the rear wing plate rotation angle sensor (10). The side plow slide plate (1) overturns or retracts around a fixed axis under the action of the overturning cylinder (11). One end of the overturning cylinder extension length sensor (6) is fixed to the cylinder body of the overturning cylinder, and the other end is fixed to the slide plate. The overturning cylinder extension length is measured to monitor the overturning rising and falling position. The side plow sleeve (2) extends or retracts along the side plow slide plate under the action of the sleeve telescopic cylinder (12). One end of the sleeve extension length sensor (7) is fixed to the slide plate, and the other end is fixed to the slide plate. The sliding sleeve is fitted and the displacement of the sliding sleeve relative to the sliding plate is measured, which is the extension length of the sliding sleeve, and is used to monitor the extension and retraction position of the sliding sleeve; the side plow plate (3) rotates inward or outward along the fixed axis under the action of the plate tilting cylinder (13). The plate tilting sensor (8) is installed above the plate and the angle of rotation of the plate around the fixed axis is measured, which is the tilting angle of the plate, and is used to monitor the rotation position of the plate; the front wing plate (4) rotates inward or outward along the fixed axis under the action of the front wing plate tilting cylinder (14). The front wing plate rotation angle sensor (9) is installed at the end of the connecting pin between the front wing plate and the plate and the plate to obtain the angle of rotation of the front wing plate relative to the pin, and is used to monitor the inward and outward rotation position of the front wing plate; the rear wing plate (5) rotates inward or outward along the fixed axis under the action of the rear wing plate tilting cylinder (15). The rear wing plate rotation angle sensor (10) is installed at the end of the connecting pin between the rear wing plate and the plate and the plate to obtain the angle of rotation of the rear wing plate relative to the pin, and is used to monitor the inward and outward rotation position of the rear wing plate.

4. The automatic control method for multi-degree-of-freedom movement of the ballast shaping cart's side plow according to claim 1, characterized in that: In step S3, the current state of the side plow and the fulfillment of logical chains are calculated based on the state data of each part of the side plow. The current state of the side plow is determined by comparing the state data of each part of the side plow at the current position with the state data of each part at the target position. The current status of the side plow includes: locked, ready for operation, custom operation, and transitioning.

5. The automatic control method for multi-degree-of-freedom movement of the ballast shaping cart's side plow according to claim 4, characterized in that: Logical chain conditions include: (1) When the side plow flips up and down, the sliding sleeve must extend by a length L to avoid interference between the sliding sleeve and the locking mechanism D during operation; (2) The angle between the front and rear wing plates when the side plow flips up and down must be greater than angle a to avoid interference between the wing plates and the vehicle body during operation; (3) When the wing plates and vertical plates are adjusted, the length of the flipping cylinder must be less than the length M to avoid damage to the track bed during the operation of the wing plates and vertical plates; (4) The vehicle should currently allow the side plow to perform state transitions: the vehicle control system has no emergency stop signal input and is not in high-speed driving condition.

6. The automatic control method for multi-degree-of-freedom movement of the ballast shaping cart's side plow according to claim 1, characterized in that: In step S5, the corresponding action solenoid valves of the hydraulic system (33) are controlled according to the sequence of actions to realize the corresponding actions of each moving part of the side plow. The next moving part will only be moved after the previous moving part has completed its action.

7. The automatic control method for multi-degree-of-freedom movement of the ballast shaping cart's side plow according to claim 1, characterized in that: The control parameters in step S1 also include position tolerance, which is divided into angle tolerance and distance tolerance. During the movement of each moving part, when the difference between the current state data obtained in real time by the position sensor (35) corresponding to the moving part and the parameter corresponding to the moving part in the target position parameters is less than the position tolerance, the position controller (32) determines that the moving part has been in place.

8. The automatic control method for multi-degree-of-freedom movement of the ballast shaping cart's side plow according to claim 1, characterized in that: In step S4, if two opposite movements of the same moving part are effective at the same time, then both movements of the same moving part are cancelled.

9. An automatic control device for the multi-degree-of-freedom movement of the side plow on a ballast shaping vehicle, characterized in that: The system includes a control system, which has a system input (42), a human-machine interface (44), and a system output (43). The system input (42) includes the input of control commands from the equipment user and the input of electrical signals from the position sensors of each moving part of the side plow. The human-machine interface (44) is used for inputting operation commands and displaying system status. The operator configures the status parameters of the side plow in the locked position (21), the work preparation position (22), and the custom work position (23) through the human-machine interface. Each position includes five parameters: the extension length of the overturning cylinder, the extension length of the sliding sleeve, the tilt angle of the upright plate, the angle of the front wing plate, and the angle of the rear wing plate. The human-machine interface is also used to input the position tolerance of the control system. The display content of the human-machine interface includes the current set parameters of each position, the real-time status of each part of the side plow, and the current action part of the automatic control. The control system calculates the action to be performed based on the currently input control command, sensor values, and set parameters. The system output (43) controls the corresponding solenoid valve of the hydraulic system to be energized, thereby realizing the change of the side plow position.

10. The automatic control device for the multi-degree-of-freedom movement of the ballast shaping cart side plow according to claim 9, characterized in that: There are two ways to input parameters: one is to directly input the parameter values; the other is to operate the side plow to move to the corresponding position, click the position memory on the human-machine interface, and memorize the sensor values ​​of the current state of the side plow as the position parameters of the locked position (21), the work preparation position (22), or the custom work position (23).

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