Method for operating a tamping machine and tamping machine for carrying out the method

Abstract

A method for operating a tamping machine (1) on a track (4), comprising a tamping assembly (9), a lifting / levelling assembly (8), a measuring system (11) with a measuring transducer (14) and a control / regulating device (15), the lifting / levelling assembly (8) being activated by the control / regulating device (15) depending on a track position, which is detected by means of the measuring system (11), in such a manner that a processed track portion is lifted to a desired level during a lifting period. A selection is made here between at least two regulators (19, 21) set up in the control / regulating device (15) in such a way that the first regulator (19) is activated for standard operation in a first lifting mode and that the second regulator (21) is activated for points in a second lifting mode. The respective regulator (19, 21) is optimized for the associated control section. Furthermore, the invention also relates to a tamping machine for carrying out the method.

Description

Technical field

[0001] The invention relates to a method for operating a tamping machine on a track, comprising a tamping unit, a lifting / straightening unit, a measuring system with a sensor, and a control / regulating device. The lifting / straightening unit is controlled by the control / regulating device as a function of a track position detected by the measuring system in such a way that a processed track section is lifted to a desired level during a lifting time. Furthermore, the invention relates to a tamping machine for implementing the method. State of the art

[0002] Tamping machines have long been known and are used to create or repair a specified track level on a track laid in a ballast bed. During operation, the tamping machine travels along the track, with a lifting / straightening unit raising a section of track located between two rail bogies. The completed lifting is recorded using the machine's own measuring system. The lifting drives of the lifting / straightening unit are controlled by a control / regulating device, with the track being raised to a specified target level in a control loop. Such a method is known, for example, from AT 369455 B.

[0003] With such a state-of-the-art control loop for track lifting, it should be noted that when correcting the position of switches, the lifting time is longer due to the increased weight in order to reach a specified target level. Thus, a tamping cycle in a switch takes correspondingly longer because the desired track position can only be fixed after the lifting has been completed using a tamping unit. Description of the invention

[0004] The invention is based on the object of improving a method of the type mentioned above such that an efficient lifting process can be carried out even in a switch. Furthermore, it is an object of the invention to provide a corresponding tamping machine.

[0005] According to the invention, these objects are achieved by the features of independent claims 1 and 12. Dependent claims specify advantageous embodiments of the invention.

[0006] In this case, a selection is made between at least two controllers set up in the control / regulation device in such a way that the first controller is activated in a first lifting mode for standard operation and the second controller is activated in a second lifting mode for switches. Each controller is optimized for the assigned controlled section. On a simple track, where the track grid consisting of sleepers and two rails is lifted, the first controller is used. In a switch, where the controlled section has different characteristics, the second controller is used. This ensures that approximately the same lifting duration and control quality is achieved for both controlled sections. In addition, the controllers can be adjusted so that the machine and the track or switch are not overloaded in either lifting mode.For example, higher lifting forces occur in the second lifting mode, which could lead to excessive stress or severe overshoot in a single track.

[0007] In a further development of the method, a P controller is activated as the first controller, and a PD, PI, or PID controller is activated as the second controller. The P controller (proportional controller) is used on a track section between switches. It is easy to set up and produces sufficiently good results for standard operation. However, in a switch, this first controller leads to disruptive extensions of the lifting time. Therefore, the PD, PI, or PID controller (controller with a proportional component and an integrating component, or with an integrating and a derivative component) is used in the second lifting mode. Such a controller can be adjusted more precisely to the conditions prevailing in a switch, so that a shorter lifting time is achieved at high lifting forces while maintaining the same quality. In a further variant, the design of the first controller as a PD, PI, or PID controller can also be useful.This can ensure more precise control of the lifting / straightening unit, even in the track area, if necessary.

[0008] A further improvement involves comparing the track lift detected by the sensor with a predefined threshold value. An electronic release is generated to lower the tamping unit into the ballast bed of the track as soon as the lift reaches the threshold value. This protects the tamping unit and the ballast bed because the actual tamping process, with the immersion and positioning of the tamping tools, only begins when the track lift has progressed sufficiently. For example, a release is triggered when 95% of the desired lift has been reached.

[0009] In a simple version of this improvement, the release to lower the tamping unit is signaled to the operator via a release signal, whereupon the operator activates a height drive of the tamping unit. For example, the operator is notified acoustically and / or visually that the desired lift has been achieved or that a predefined threshold, depending on the desired lift (e.g., 90%), has been reached.

[0010] In an alternative process variant, a height drive of the tamping unit is automatically activated as soon as the lowering of the tamping unit is enabled. This variant is useful when the process is used as part of an automated tamping process or with the use of an assistance system.

[0011] In any case, it is advantageous to generate a warning signal shortly before the tamping unit is lowered. This provides acoustic and / or visual warning to all machine operators before the tamping unit is activated.

[0012] Advantageously, the first lifting mode or the second lifting mode is activated using a control element. This allows the operator to switch back and forth between the two lifting modes at any time. The operator is preferably shown which lifting mode is more suitable for the current situation.

[0013] Additionally or alternatively, the lifting force and / or lifting duration acting on the track by the lifting / straightening unit and, if applicable, by an additional lifting unit are advantageously recorded. Upon reaching a threshold value, the system automatically switches from one lifting mode to the other. This relieves the operator and allows for quick and safe selection of the correct lifting mode.

[0014] The measured lifting force is logically compared with a lifting force limit value using a comparator. When a specified lifting force is reached, the comparator output produces a selection signal such that if the measured lifting force is less than or equal to the lifting force limit value, the first lifting mode is activated, and if the lifting force limit value is exceeded, the second lifting mode is activated. The lifting force serves as a reliable parameter for selecting the lifting mode. As soon as the machine enters a switch area, the required lifting forces increase, so that if the limit value is exceeded, the system switches to the second lifting mode. Conversely, when the machine leaves a switch area, the limit value is reached from above and the system switches back to the first lifting mode.

[0015] To further improve the process, track position data is provided to the control / regulation system for switching from one lifting mode to the other. With the position data stored in an electronic memory and a comparison with a recorded actual position, switching between the two lifting modes can be carried out reliably.

[0016] Preferably, a sensor mounted on the tamping machine detects the beginning or end of a switch, and a corresponding signal is transmitted to the control / regulation device. This achieves a level of automation that significantly reduces the workload for the user. The automated processes are displayed to the user for monitoring, allowing intervention if necessary.

[0017] In the tamping machine according to the invention for carrying out one of the described methods, at least two controllers are installed in the control / regulating device, the first controller being assigned to a first lifting mode for standard operation, and the second controller being assigned to a second lifting mode for switches. With such a tamping machine, an optimal lifting process can be carried out for all sections of a track system during a track position correction.

[0018] Advantageously, the control / regulation system is configured with a P controller as the first controller, and a PD, PI, or PID controller as the second controller. Both controllers are configured to achieve high control quality with a short lifting time for the respective controlled section. This leads to short tamping cycle times and short work-through times, both on a track section and in a switch.

[0019] The second controller preferably comprises a parallel circuit of a P-element, an I-element, and a D-element. This allows for flexible adaptation of the second controller to the specific switches being processed. The individual elements of the controller can be adjusted separately to optimize the characteristics of the controller.

[0020] To further improve the tamping machine, a sensor, in particular a camera, a 2D laser scanner, and / or a 3D laser scanner for detecting switches, is installed in one working direction upstream of the lifting / straightening unit. These additional devices enable extensive automation of the tamping process. In particular, the beginning and end of a switch are detected, allowing automated switching between the two lifting modes. Short description of the drawings

[0021] The invention is explained below by way of example with reference to the accompanying figures. They show schematically: Fig. 1 Tamping machine on a track Fig. 2 Proportional controller Fig. 3 Controller structure with a first controller and a second controller Fig. 4 Block diagram for automatic selection of the lifting mode Description of the embodiments

[0022] The Fig. 1 The tamping machine 1 shown comprises a machine frame 2, which is supported on rail bogies 3 and can be moved along a track 4. The track 4 has a track grid formed from sleepers 5 and rails 6 fastened thereto, which is supported in a ballast bed 7. Sections of the track 4 are divided into simple track sections, switches, and crossings. When correcting the position of such a track system, the tamping machine 1 must process various track sections, in particular simple track sections and switches.

[0023] A lifting / straightening unit 8 and a tamping unit 9 are arranged on the machine frame 2 of the tamping machine 1. An additional lifting unit 10 serves to lift a branching track in a switch. The lifting of a track section or a switch by the lifting / straightening unit 8 and, if applicable, by the additional lifting unit 10 takes place in relation to a machine-specific measuring system 11. In the simplest case, this measuring system 11 comprises wire chords 12 stretched over each rail 6 between measuring wheel axles 13 guided on the track 4. Other measuring systems 11 can also be used for the present method, in particular optical measuring systems that have optical measuring chords and camera systems with pattern recognition.

[0024] In any case, the measuring system 11 comprises a sensor 14 that detects the elevation of the track 4 in the area of the lifting / straightening unit 8. For example, a further measuring wheel axle 13 is arranged, with which changes in the distance of the rails 6 relative to the wire chords 12 serving as reference elements are determined via rods. For this purpose, the sensor 14 comprises a rotary potentiometer that positively engages the respective wire chord 12 via fork-shaped sensors. In an optical measuring system, the sensor 14 is, for example, an image sensor for evaluating optical signals.

[0025] A control / regulating device 15 is provided to control the lifting / straightening unit 8. This device can be used, for example, to control proportional valves associated with hydraulic lifting drives 16 of the lifting / straightening unit 8. A control loop is set up to lift a track section or a switch. The system consisting of the track or switch and the lifting arrangement forms a controlled system, which can be affected by various disturbances.

[0026] The control variable used is, in particular, a lift, which is detected by the sensor 14. A corresponding measured value 17 of the lift is fed back and compared with a target lift value 18 as a reference variable. The target lift value 18 results from a desired track position and is specified to the control / regulating device 15, for example, by means of a master computer. The control deviation resulting from the measured value 17 and the target lift value 18 serves as the input for a controller 19, which is designed, for example, as a P-controller ( Fig. 2 ). A control signal 20 is present at the output of the controller 19, for example a control voltage for a hydraulic valve of the lifting drive 16. In this way, the track section currently being worked on is raised to a desired level in a controlled lifting process.

[0027] According to the invention, at least two controllers 19, 21 are installed in the control / regulating device 15. A corresponding example is shown in Fig. 3 As shown in Fig. 1 The input signal for the controllers 19, 21 is a control deviation formed from the measured value 17 and the target lifting value 18. The first controller 19, for example, is a P-controller (P-element 22), which generates a control signal 20 at the output for the first lifting mode for standard processing of track sections.

[0028] The second controller 21 is, for example, a PID controller with a parallel circuit of a P element 22, an I element 23, and a D element 24. These elements 22, 23, and 24 of the second controller 21 are coordinated to achieve optimal lifting of a switch. The sum of the output signals forms the manipulated variable 20 generated by the second controller 21.

[0029] Using a selection signal 25 and a switching element 26, one of the outputs of the two controllers 19, 21 is enabled to activate either the first lifting mode for standard operation or the second lifting mode for switches. In the simplest case, the selection signal 25 is determined using a control element. For this purpose, an operator 27 has a clear view of the track to be operated.

[0030] Advantageously, technical devices are provided to assist the operator 27 or to automate the selection process on the tamping machine 1. For example, a camera 29 for recording the track 4 is arranged in a working direction 28 in front of the lifting / straightening unit 8. The images are transmitted in real time to a computer 30 in which analysis software is installed. Pattern recognition is used to automatically identify where a switch area begins and ends. A position measuring device 31 determines the current positions of the lifting / straightening unit 8 and the additional lifting unit 10 with respect to a detected switch.

[0031] Sensors for detecting a switch include, for example, 2D laser scanners 32 positioned above the rails 6. These are used to detect switch tongues, branching rails, or turnout hearts. A 3D laser scanner (rotation scanner) 33 located at the front of the tamping machine 1 captures a three-dimensional image of the track area being traveled, from which the beginning and end of a switch can also be determined.

[0032] Another tool is a GNSS receiver 34, which uses a navigation satellite system to determine the exact position of the tamping machine 1. Position data from switches are stored in the control / regulation device 15, so that, by comparing this with the current position, it is detected when the machine 1 enters or leaves a switch.

[0033] For automatic switching between lifting modes, it is useful to record the lifting force and / or lifting duration exerted by the lifting / straightening unit 8 and, if applicable, the additional lifting unit 10 on the track or switch. When a predefined limit value is reached, the system automatically switches from one lifting mode to the other. A load cell, for example, is provided to measure the lifting force. A pressure sensor 35, which measures the hydraulic pressure in the hydraulic lifting drives of the lifting / straightening unit 8, is also suitable as a sensor for recording the lifting force. For example, in standard operation, a lifting force of approximately 100 kN is achieved. This corresponds to a hydraulic pressure of approximately 100 bar. On a single track section, this results in a lifting duration of 0.5-1 second. In a switch, approximately twice the lifting force is achieved, resulting in a lifting duration of 1-4 seconds.

[0034] With reference to Fig. 4The automated switching is explained in more detail. A comparator 36 compares a measured lifting force value 37 with a lifting force limit value 38. A message signal 39 indicates that a specified target lifting value 18 has been reached. As soon as a corresponding message is received, the lifting mode is determined. If the measured lifting force value 37 is less than or equal to the lifting force limit value 38 at this time, the comparator 36 produces a selection signal 25 to activate the first lifting mode for standard operation. However, if the measured lifting force value 37 is greater than the lifting force limit value 38 at this time, a selection signal 25 to activate the second lifting mode for switches is present at the output of the comparator 36. The specified lifting force limit value 38 is, for example, in a range from 100 kN to 130 kN, preferably 110 kN.

[0035] Additionally, a display 41 is located in an operator cabin 40, which shows the results of the sensors 29, 32, 33, and 35 and the automated selection of the lifting modes. The operator 27 can also be alerted to certain processes by means of acoustic signals.

[0036] Furthermore, the operator 27 is notified when a lift has reached a predetermined threshold value (e.g., 95%) and the tamping unit 9 is released. A height drive 42 of the tamping unit 9 is activated either by the operator 27 or automatically. The tamping unit 9 thus only immerses itself in the ballast bed 7 when the lift has progressed sufficiently. This ensures a continuous tamping process, in which the immersion process is immediately followed by an adjustment process of the tamping tools 43. In this way, both the tamping unit 9 and the ballast bed 7 are protected.

[0037] To warn other operating personnel before the tamping unit 9 is activated, an acoustic warning device 44 is mounted on the tamping machine 1. Additionally, an optical warning device 45 can be installed. This ensures that an automated tamping process does not endanger any persons on track 4.

Claims

1. A method for operating a tamping machine (1) on a track (4), comprising a tamping unit (9), a lifting and lining unit (8), a measuring system (11) with a measuring value transducer (14), and a control / regulating device (15), with the lifting and lining unit (8) being actuated by the control / regulating device (15) as a function of a track position recorded by means of the measuring system (11) in such a way that a treated track section is lifted to a target level during a lifting time, characterized in that at least two controllers (19, 21) set up in the control / regulating device (15) are selected in such a way that the first controller (19) is activated in a first lifting mode for standard operation and that the second controller (21) is activated in a second lifting mode for turnouts.

2. A method according to claim 1, characterized in that the first controller (19) is activated, in particular as a P controller, and a PD, PI, or a PID controller is activated as the second controller (21).

3. A method according to claim 1 or 2, characterized in that a lifting of the track (4) recorded with the measuring value transducer (14) is compared with a predefined threshold value, and in that an enable for lowering the tamping unit (9) into a ballast bed (7) of the track (4) is generated as soon as the lifting reaches the threshold value.

4. A method according to claim 3, characterized in that the enable for lowering the tamping unit (9) is signalled to an operator (27) by means of an enable signal, and in that a height drive (42) of the tamping unit (9) is activated by the operator (27).

5. A method according to claim 3, characterized in that a height drive (42) of the tamping unit (9) is automatically activated as soon as the enable for lowering the tamping unit (9) has taken place.

6. A method according to one of the claims 3 to 5, characterized in that a warning signal is generated shortly before the tamping unit (9) is lowered.

7. A method according to one of the claims 1 to 6, characterized in that the first lifting mode or the second lifting mode is activated by means of an operating element.

8. A method according to one of the claims 1 to 7, characterized in that a lifting force and / or a lifting duration acting on the track (4) from the lifting and lining unit (8) and, if necessary, from an additional lifting unit (10) is recorded, and in that the system automatically switches from one lifting mode to the other lifting mode when a threshold value is reached.

9. A method according to claim 8, characterized in that the recorded lifting force is compared with a lifting force limit (38) by means of a comparator (19), with the output of the comparator (36) producing a selection signal (25) when a predefined lifting force is reached in such a way that the first lifting mode is activated when the lifting force measuring value (37) is less than or equal to the lifting force limit (38), and the second lifting mode is activated when the lifting force limit (38) is exceeded.

10. A method according to one of the claims 1 to 9, characterized in that the control / regulating device (15) is provided with position data of the track (4) for switching from one lifting mode to the other lifting mode.

11. A method according to one of the claims 1 to 10, characterized in that a sensor (29, 32, 33) arranged on the tamping machine (1) is used to recognize the start or end of a turnout, and in that a corresponding signal is forwarded to the control / regulating device (15).

12. A tamping machine (1) for carrying out a method according to one of the claims 1 to 11, characterized in that at least two controllers (19, 21) are set up in the control / regulating device (15), in that the first controller (19) is assigned to a first lifting mode for a standard operation, and in that the second controller (21) is assigned to a second lifting mode for turnouts.

13. A tamping machine (1) according to claim 12, characterized in that the first controller (19) in the control / regulating device (15) is set up, in particular as a P controller, and a PD, PI, or a PID controller is set up as the second controller (21).

14. A tamping machine (1) according to claim 13, characterized in that the second controller (21) comprises a parallel connection of a P element (22), an I element (23), and a D element (24).

15. A tamping machine (1) according to one of the claims 12 to 14, characterized in that a sensor, in particular a camera (29), and / or a 2D laser scanner (32), and / or a 3D laser scanner (33) for recognizing turnouts is arranged.

Images