Method and system for correcting vertical track misalignment

Abstract

A method for correcting the vertical position deviation of a track (4) after a lifting and tamping process by a stabilization process performed with a dynamic track stabilizer (1), in which a stabilizing unit (23) acts on the track (4) at a working position (22) advancing as seen in the working direction (7) and detects track position data of the unprocessed track (4) before the lifting and tamping process, and detects track position data of the tamped track (4) after the lifting and tamping process at a measuring position (10) located in front of the stabilizing unit (23) as seen in the working direction (7). In this case, additional track position data of the stabilized track (4) is detected at a remeasurement point (21) located behind the stabilizing unit (23) as seen in the working direction (7), and the dynamic track stabilizer (1) is driven and controlled during the stabilization process depending on the track position data of the unprocessed track (4) and the tamped track (4) at the working point (22) and the track position data of the stabilized track (4) at the remeasurement point (21). Additional remeasurement of the track position after the stabilization process enables an accurate closed-loop control of the dynamic track stabilizer (1).

Description

[Technical field]

[0001] The invention relates to a method for correcting vertical misalignments of a track after a lifting and tamping process by a stabilization process performed with a dynamic track stabilization device, the stabilizing unit acting on the track at a working location advancing in the working direction, detecting track position data of the raw track before the lifting and tamping process, and detecting track position data of the tamped track after the lifting and tamping process at a measuring point located in front of the stabilizing unit in the working direction. The invention further relates to a system for carrying out the method. [Background technology]

[0002] From WO 2006 / 056215 a method is known for correcting vertical misalignments (leveling misalignments) of a track with a ballast bed, in which the track is lifted and tamped to a temporary target position and then lowered in a controlled manner to a final target position by applying a static load together with lateral vibrations within the framework of track stabilization.

[0003] During lifting and tamping, the desired track cant is preset in relation to the elevation irregularity, so that the subsequent track stabilization will result in a stronger compaction of the track sections with larger elevation irregularities, thereby counteracting the sudden drop of the track into the old track position with the irregularities due to traffic loads.

[0004] This known method is generally called "Design Overlift", and the respective overlift value is preset on the basis of empirical data. This allows individual irregularities to be corrected continuously. However, this approach leads to unnecessarily large cants in many treatment areas, which in turn increases the amount of ballast required.

[0005] AU 519 317 A1 discloses a modified method in which a smoothed actual position curve is formed from the unprocessed actual position curve of the track before the lifting and tamping process. The respective overlift value is then pre-determined with respect to the approximately smoothed actual position curve as a function of this curve of the actual track position. In this method, only track position deviations with short wavelengths are processed by the overlift value. Subsidences with long wavelengths remain ignored when pre-determining the overlift value.

[0006] Another method for track alignment using a dynamic track stabiliser is described in EP 0 952 254 A1. Here, the track stabiliser is actuated by a variable static load, which removes long wavelength track misalignments after the lifting and tamping process. Starting from the measurement of the tamped track, a new target position of the track is calculated, and the static load change is determined by the derived alignment value. Summary of the Invention [Problem to be solved by the invention]

[0007] The object of the present invention is to improve the above-mentioned method compared to the prior art, so that after the stabilization process, an optimal track position is achieved, regardless of the type and the degree of the track irregularity that exists.Furthermore, the object of the present invention is to provide a corresponding system. [Means for solving the problem]

[0008] According to the invention, these problems are solved by the characterizing features of the independent claims 1 and 9. Advantageous developments of the invention result from the dependent claims.

[0009] In the present invention, additional track position data of the stabilized track is detected at a remeasurement point located after the stabilizing unit in the working direction, and the dynamic track stabilizer is controlled during the stabilization process depending on the track position data of the unprocessed and tamped track at the working point and on the track position data of the stabilized track at the remeasurement point. The additional remeasurement of the track position after the stabilization process as well as the measurements before and after the lifting and tamping process allows an accurate closed-loop control of the dynamic track stabilizer. In particular, the track positions measured before and after the lifting and tamping process are used together with the track positions measured after the stabilization process as the basis for the closed-loop controlled drive control of the dynamic track stabilizer. In this way, the residual errors remaining after the initial settling phase are reduced to zero, resulting in an optimal track position. In particular, the residual errors detected after the lifting and tamping process are eliminated by the closed-loop controlled drive control of the dynamic track stabilizer.

[0010] In a further development of the method, the track position data of the final target position of the track are predefined and, additionally, during the stabilization process, the dynamic track stabilizer is controlled as a function of the alignment data for the working point, which are derived from the data of the target position and the track position data of the raw track. Thus, the measurement data of the individual irregularities of the raw track and other characteristic positional irregularities are directly incorporated into the control of the dynamic track stabilizer, so that the control deviations are minimized proactively. This extension of the method actively compensates, in particular, for uneven overlifting due to a preceding lifting and tamping process with design overlift.

[0011] Advantageously, in order to determine the track position data at each measurement point, the respective longitudinal gradient or longitudinal height of the track and the transverse gradient or cant are measured. In curved sections, the longitudinal gradient or longitudinal height of the inner rail is preferably determined, whereas the transverse gradient or cant indicates the position of the outer rail. Thus, as track position data, the vertical positions (height positions) of the two rails of the track are determined in different process states.

[0012] In an advantageous embodiment of the method, during the stabilization process, depending on the detected track position data, one of the following operating parameters of the dynamic track stabilizer is modified: the vibration frequency of the stabilizing unit, the running speed of the dynamic track stabilizer, the load of the stabilizing unit acting on the left rail of the track, the load of the stabilizing unit acting on the right rail of the track, and the total load acting from the stabilizing unit on the track.

[0013] Advantageously, the stabilization process is started with a preset initial value for the respective operating parameter, and adapted values ​​are continuously calculated for each operating parameter during the stabilization process by means of an algorithm provided in the calculation unit. By continuously recalculating the respective variable operating parameters, the stabilization process can be directly adapted to various system-specific or external influences.

[0014] Preferably, a weighting factor is stored in the algorithm for each operating parameter. The weighting factor is continuously adapted by means of a closed-loop control. For example, the calculation unit implements an equation with a specific weighting factor for each variable operating parameter. Furthermore, the closed-loop controlled drive control of the dynamic orbit stabilization is performed only by the continuous adaptation of the weighting factor. Such an algorithm allows a high quality of the closed-loop control, since the characteristics of the closed-loop control system and the dynamic characteristics of the closed-loop control are predefined separately. In the equation for each operating parameter, a specific interaction between the respective operating parameter and the detected orbit position data is mapped. The closed-loop control dynamics are determined by the stored adaptation logic of the weighting factors.

[0015] In another refinement of the method, the dynamic track stabiliser is accompanied by a track position measuring system which comprises a number of measuring devices, and at each measuring point, the corresponding track position is detected with respect to a common reference system by the associated measuring device. In this way, while the dynamic track stabiliser is moving forward, track position data of the track positions which change during the process are collected. The track position to be observed is first located in front of the stabilising unit, where the track position after the lifting and tamping process is detected. With the forward movement of the dynamic track stabiliser, during the closed-loop controlled lowering of the track by the stabilising unit, the same track position becomes the current working position, immediately followed by the measuring point. In a double unit, this measuring point is preferably located between the two stabilising units. Outside the influence area of ​​the stabilising units, at the re-measurement point, the track position data of the lowered track position is detected. Thus, each measuring point corresponds to a track position observed in time sequence during the working forward.

[0016] In a further development of this improvement, the reference system is formed by a camera attached to one of the measuring devices and a reference mark attached to another measuring device and positioned in the image area of ​​the camera, and the camera is used to image the measuring marks attached to the remaining measuring devices in order to determine the track position data. Such an optical measuring system provides precise measurement results for several measuring locations, and a common reference system facilitates the subsequent processing of the obtained track position data. In an expedient development, the reference mark is attached directly to the stabilizing unit, so that the corresponding measuring location and the working location coincide. In this case, the vibration amplitude of the stabilizing unit is also determined by means of the camera. This additional measurement quantity can be used as another parameter for closed-loop control of the stabilization process.

[0017] A system according to the invention for carrying out one of the described methods comprises a track position inspection system and a dynamic track stabilizer for correcting vertical positional deviations at advancing working points of the track, the track position inspection system being configured to detect the track position at inspection points located upstream of the dynamic track stabilizer in the working direction and at re-inspection points located downstream of the dynamic track stabilizer in the working direction, the dynamic track stabilizer comprising a control device to which the track position data detected by the track position inspection system are supplied, the control device being configured to drive and control the dynamic track stabilizer depending on the track position data associated with the working points and the re-inspection points.

[0018] The control device preferably includes a calculation unit in which an algorithm is implemented for recalculating at least one operating parameter of the dynamic orbit stabilizer based on continuously updated orbit position data, so that the control of the dynamic orbit stabilizer is adapted almost in real time as a result of the detected orbit position deviations. The quality of the corrected orbit position is further improved due to the short reaction times.

[0019] Advantageously, the distance between the working point and the remeasurement point is in the range between 3 m and 10 m, in particular between 5 m and 8 m. This ensures that after the stabilization process at the remeasurement point, a problem-free actual track position is determined. In this way, the remeasurement provides particularly accurate data for the closed-loop control loop for controlling the dynamic track stabilization. Here, the remeasurement point follows the working unit at a sufficiently small distance, so that a rapid closed-loop control adaptation can be carried out, if necessary.

[0020] In a further development of the system, the stabilizing unit includes a vibration generator and a roller gripper that can be clamped to the rails of the track, and the stabilizing unit is supported on the machine frame by a separately controllable load drive. This refinement allows different loads to be applied to the left and right rails of the track. This allows for precise adjustment of the subsidence achieved by the stabilizing unit and thus precisely achieving the preset lateral gradient or cant of the track.

[0021] An advantageous extension of the system concerns a machine coupling in which a compactor is arranged immediately before the dynamic track stabiliser in the working direction, and the track position measurement system comprises at least one measurement device associated with the compactor. In the case of a continuously working ballast tamper, it can be permanently connected to the dynamic track stabiliser. The cyclically working compactor and the dynamic track stabiliser running behind it are operated without mechanical coupling. In two variants, the extended track position measurement system also extends to the measurement point of the compactor, so that additional track position data are directly available for controlling the dynamic track stabiliser.

[0022] Advantageously, the track position inspection system comprises a first inspection device equipped with a camera, a second inspection device equipped with a reference mark and at least one further inspection device equipped with an inspection mark is mounted between the first and second inspection devices. Such an optical inspection device also provides accurate inspection results over long distances and interference due to vibrations can be filtered out in an expedited manner.

[0023] A further improvement of the track position measurement system includes a controllably drivable flashlight together with the camera, which allows the illumination of the reference and measurement marks to be adapted to the camera's exposure time and thus prevents disruptive effects from sunlight or other light sources.

[0024] The invention will now be described, by way of example only, with reference to the accompanying drawings, in which: FIG. [Brief description of the drawings]

[0025] [Figure 1] FIG. 13 shows the dynamic track stabilization after the compactor. [Diagram 2] FIG. 1 is a plan view showing a track position measurement system equipped with five measurement devices. [Diagram 3] FIG. 2 is a cross-sectional view showing a stabilizing unit having a machine frame and a track. [Figure 4] FIG. 1 shows an optical inspection device equipped with a passive marker. [Diagram 5] FIG. 1 shows an optical inspection device equipped with active markers. [Figure 6] FIG. 1 illustrates an optical inspection device with redundant markers. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] The dynamic track stabiliser (DGS) 1 shown in Figure 1 is an autonomous track construction machine with a machine frame 2 supported on rail running gear 3 and capable of running on a track 4. In the example embodiment described, this dynamic track stabiliser 1 is operated together with a compactor 5. However, the invention also relates to a method in which the dynamic track stabiliser 1 is used independently of the compactor 5.

[0027] In a variant not shown, the compactor 5 and the dynamic track stabiliser 1 form a combined track construction machine, in which the cyclic forward movement of the tamping unit 6 is adapted to the continuous forward movement of the dynamic track stabiliser 1, for example via a longitudinally displaceable auxiliary frame (satellite).

[0028] The cyclically operating compactor 5 shown in FIG. 1 is arranged in front of the dynamic track stabiliser 1 in the working direction 7. An exaggerated plot of the changing track position in the working process is used to better illustrate. In front of the compactor 5, a rail running device 3 runs on the unprocessed track 4. In front of it, an inspection device 8 is guided in order to determine the actual position of this unprocessed track section. This inspection device 8 is an element of a track position inspection system 9 for determining track position data at various inspection points 10. Additionally, or in an alternative embodiment of the method, a separate track inspection vehicle is used to determine the track position data of the unprocessed track 4.

[0029] In the exemplary embodiment shown in Fig. 1, the compactor 5 is assigned a measuring system 9 with a measuring string as a reference system. The dynamic track stabilization machine 1 contains a further measuring system with its own measuring string. In coupled operation of the machines 1, 5, these two measuring systems 9 are combined into a common track position measuring system 9. All detected track position data are preferably processed by a common evaluation device 11. If necessary, data transmission between the compactor 5 and the dynamic track stabilization machine 1 takes place via an air interface.

[0030] The track position data are then fed to a control device 12 for adaptive drive control of the dynamic track stabilization machine 1. Possibly, track position data of the raw track 4 or of the already compacted track 4 detected by a separate track inspection vehicle is transmitted to the control device 12 in advance or via a wireless connection.

[0031] During the lifting and compacting process, the track formed by the sleepers 13 and the rails 14 mounted thereon is lifted off the ballast bed 15. For this purpose, the compactor 5 comprises a lifting unit 16 arranged in front of the tamping unit 6. Between these is a further measuring device 8 for detecting the lifting 17 that has taken place. In the lifted track position, the tamping tool of the tamping unit 6 penetrates into the ballast bed 15. With the application of vibrations, a squeeze movement is performed in which the ballast is pressed and compacted under the lifted sleepers 13. In this way, the track 4 is temporarily fixed in the over-lifted track position.

[0032] In the illustrated variant, the respective inspection device 8 is configured as a rail-guided device. The respective device 8 comprises a flange roller which is pressed against the inside of the rail 14 by means of a spreading shaft. A contactless variant of the respective inspection device 8 comprises a support on which are arranged inspection sensors (e.g. laser scanners) which are directed towards the rail 14. The position of the inspection device 8 relative to the rail 14 is detected by means of these sensors.

[0033] At the last measurement point 10 of the track position measurement system 9 of the compactor 5 in the working direction 7, a measurement device 8, for example with an inertial measurement unit (IMU) 18, is located. This measurement device 8 is arranged on a measurement frame 19, which is guided on the rails 14 by means of four flange rollers. By means of this measurement device 8, the track position data of the compacted track 4 is determined in a known manner. At the same time, the measurement device 8 is used as the rear reference unit of the chord measurement system formed in the compactor 5.

[0034] The excessively raised track position is lowered to the final target track position 20 in the subsequent stabilization process. At this time, the dynamic track stabilizer 1 is used. The drive control of the dynamic track stabilizer 1 is performed depending on the inspection data detected at a plurality of inspection points 10 including the re-inspection point 21. Specifically, the track 4 is lowered under closed-loop control at the working point 22 advancing in the working direction 7 together with the dynamic track stabilizer 1 using the dynamic track stabilizer 1.

[0035] At this working station 22, a stabilizing unit 23 is clamped on the rail 14 by means of a roller gripper 24 (FIG. 3). The track is vibrated horizontally in the area of ​​the working station 22 by a vibration generator 25 arranged on the stabilizing unit 23 at a predefined frequency. The stabilizing units 23 are supported on the machine frame 2 via load drives 26 which are respectively associated with the underlying rail 14. These load drives 26 are embodied, for example, as separately controllable hydraulic cylinders. Via flanged rollers 27 of the stabilizing units 23, the static load acting on the associated rail 14 can be changed by changing the applied pressure. Immediately after the working station 22, a measuring device 8 is arranged in order to detect any currently occurring subsidence of the track.

[0036] In the track position measuring system 9 configured as a string measuring system, the measuring devices 8 are used, on the one hand, for closed-loop control of the sinking of the track 4 and, on the other hand, for re-measuring the problem-free actual track position 28 after stabilization. In the illustrated embodiment, a total of four measuring devices 8 are arranged on the dynamic track stabilization machine 1. Viewed from the front, the first measuring device 8 is guided in the track section in which the track position is over-raised. The second measuring device 8 is located immediately after the stabilization unit 23. Behind it, a third measuring device 8 and a fourth measuring device 8 are further arranged at a defined distance from each other.

[0037] The four inspection devices 8 form two three-way systems together with the corresponding measuring strings. For closed-loop control of the subsidence, a string is stretched between the first and third inspection devices 8 on each rail 14. A measuring string is formed between the second and fourth inspection devices 8 by means of a reference system for the remeasurement of the unaffected track 4. At each inspection device 8 positioned between them, the distance (riser) to the associated measuring string is measured, from which the track position is derived according to known moving string-measurement methods. The position of the third inspection device 8 determines the remeasurement point 21. In order to accurately determine the position of the unaffected track 4, the distance a between the remeasurement point 21 and the working point 22 is, for example, 6 m. Alternatively, the third inspection device 8 is designed as an inspection vehicle with an inertial measuring unit 18 arranged on the measuring frame 19. In this case, the remeasurement is carried out exclusively by this adapted inspection device 8.

[0038] The stabilizing unit 23 is configured as a single unit or a double unit. A double unit comprises two aggregate units which are constructed essentially identically and are guided one after the other on the track 4. Such a second aggregate unit is indicated by dotted lines in FIG. 1. The double unit allows vibrations of different directions to be induced simultaneously on the track 4, which results in more variable operating parameters than with a single unit.

[0039] According to the invention, at least one operating parameter of the dynamic orbit stabilization device 1 is modified as a function of the orbit position data detected during the stabilization process. What is important here is to detect the orbit position data at several measurement points 10, 21, i.e. at the measurement point 10 located before the stabilization unit 23 and at the remeasurement point 21 after the stabilization unit 23. In the embodiment shown in Fig. 1, the corresponding measurements are performed by means of the described three-measurement system and the inertial measurement unit 18.

[0040] In an improved variant, the measurement of the track position, which changes in the working process, is carried out by an optical inspection system 9, as shown in FIG. 2. The advantage of this variant is a common reference system for all measurements carried out. In relation to the working direction 7, the rear inspection device 8 comprises a camera 29, which is directed towards all inspection devices 8 located in front of it. On each of these inspection devices 8 located in front of it, an inspection mark 30 is arranged, one of which is defined as a reference mark 30. A virtual optical chord 31 is stretched between the reference mark 30 and the camera 29, which optical chord 31 is used as a reference base for the position of the remaining inspection marks 30. All marks 30 of the inspection system 9 are located in the image area 32 of the camera 29. Each inspection or reference mark 30 comprises, for example, a crosshair on a reflective surface.

[0041] The images captured by the camera 29 are successively evaluated in the evaluation device 11 of the track position inspection system 9. The mutual distances of the inspection devices 8 and the image scale of the camera 29 are known. Using these known dimensional ratios, the evaluation device 11 calculates the actual position change of the inspection mark 30 relative to the optical chord 31 from the displacement of the inspection mark 30 focused on the image sensor. In a predefined coordinate system x, y, z, the corresponding displacement values ​​Δx, Δy are obtained (FIG. 4). These calculated displacement values ​​Δx, Δy correspond to the riser values ​​detected by a conventional chord inspection system.

[0042] Advantageously, the camera 29 is configured to detect monochromatic captured images in order to optimize the evaluation. The resolution of the image sensor is, for example, 5 megapixels. This makes it possible to identify displacements of the measurement marks 30 in millimeters. A capture frequency of approximately 200 Hz ensures that position changes are immediately identified. Approximately 200 measurements are therefore made per second.

[0043] In an advantageous development, the camera 29 is coupled to a flashlight 33. For example, a number of high-power LEDs are arranged around the objective lens of the camera 29 in order to flash in the direction of the inspection marks 30 in synchronism with the triggering of the camera 29. In this development, the inspection marks 30 are formed as passive elements of the track position inspection system 9 (FIG. 4). For example, each inspection mark 30 is glued as a retroreflector film to a suitable surface of the associated inspection device 8.

[0044] In Fig. 5 active inspection marks 30 are shown. These are driven together with the camera 29 and emit light in the direction of the camera 29. Preferably, again high power LEDs are used which flash synchronously with the trigger of the camera 29. Each inspection mark 30 contains a transparent film which is background illuminated with diffuse light by the LED flashlight 33. Compared to passive inspection marks, a greater light intensity is achievable, which gives better results, especially in dusty environments and in bad weather.

[0045] Another improvement of the track position inspection system 9 used in the present invention is shown in FIG. 6. It is taken into account here that in exceptional cases, an obstacle 34 may be present between the camera 29 and the inspection marks 30. For example, in the case of large displacements of the track curve, the individual unit parts may temporarily cover the respective line of sight. In this embodiment, a number of redundant inspection marks 30 are assigned to one inspection device 8, so that if one of the inspection marks 30 does not appear in the captured image of the camera 29, the position of the inspection device 8 can still be reliably detected.

[0046] Starting from the detected orbital position data, for example the following operating parameters of the dynamic orbital stabilization system 1 are determined: f dgs … Vibration frequency of vibration generator 25 al dgs … Load of the stabilizing unit 23 on the left rail 14 ardgs … Load of the stabilizing unit 23 on the right rail 14 ag dgs …Full load v dgs … Passing speed of the stabilizing unit 23 (forward speed) are successively adapted.

[0047] The orbital position data detected in front of the stabilizing unit 23 in the working direction 7 are associated with the current working location 22, i.e. before the stabilization process all orbital position data are detected with their positional association with the orbit 4. For example, the orbital position data are supplemented by position data of a navigation satellite system (GNSS data). Due to the known distance between the inspection location 10 and the working location 22 a simple relationship can be formed via the detected distances.

[0048] Specifically, the next inspection data is detected in advance, and when each inspection point 10 corresponds to the current work point 22, the operation parameters, i.e., h ivs …actual longitudinal height of untreated track 4 q ivs … Actual lateral gradient (actual cant) of raw track 4 h ins …actual longitudinal height of the tamped track 4 q ins …actual lateral gradient (actual cant) of the tamped track 4 It is used to adapt the

[0049] Additionally, a predetermined value for the final target orbit position is determined based on the operating parameters, i.e. h s … the target longitudinal height of the processed and completed track 4 q s … the target lateral gradient (target cant) of the processed and completed track 4 It is used to adapt the

[0050] An exemplary formula for the continuous adaptation of the operating parameters includes the following weighting factors: g f1 …first weighting factor for vibration frequency g f2 … second weighting factor for vibration frequency g a1 … First weighting factor for load g a2 … Second weighting factor for load g a3 … 3rd weighting factor for load g a4 … 4th weighting factor for load g v1 … First weighting factor for passing speed g v2 … Second weighting factor for passing speed is used.

[0051] At the start of the task deployment, the operating parameters are set to the following initial values: f0: Initial value for vibration frequency a0: Initial value for left and right load v0: Initial value for the passing speed Use.

[0052] In order to adapt the operating parameters of the dynamic trajectory stabilizer 1 for the current working location 22 during the stabilization process, the control device 12 is provided with the following equation: f dgs :=f0+g f1 ·(h s -h ivs )+g f2 ·(h ins -h s ) al dgs :=a0+g a1 ·(q s -q ivs )+g a2 (q ins -q s )+g a3 ·(h s -h ivs )+g a4 ·(hins -h s ) ar dgs :=a0-g a1 (q s -q ivs )-g a2 (q ins -q s )+g a3 ·(h s -h ivs )+g a4 ·(h ins -h s ) v dgs :=v0+g v1 ·(h s -h ivs )+g v2 ·(h ins -h s ) ag dgs :=al dgs +ar dgs Store.

[0053] The action of the dynamic track stabiliser 1 causes a change in the subsidence and the longitudinal height and / or cant of the track 4 during the passage. These changes are detected by remeasurement of the track position. Thus, in order to adapt the alignment of the track position and the operating parameters, the following track position data is obtained: h ind …actual longitudinal height of stabilized track 4 q ind …actual lateral gradient (actual cant) of the stabilized track4 is used.

[0054] For example, the iterative adaptation of the operating parameters may be performed using the following equation stored in the controller 12: Δh:=(h s -h ind ) Δq:=(q s -q ind ) g f1 (n+1):=g f1 (n)+k gf1 Δh g f2 (n+1):=g f2 (n)+k gf2 Δh g a1 (n+1):=g a1 (n)+k ga1 Δq g a2 (n+1):=g a2 (n)+k ga2 Δq g a3 (n+1):=g a3 (n)+k ga3 Δh g a4 (n+1):=g a4 (n)+k ga4 Δh g v1 (n+1):=g v1 (n)+k gv1 Δh g v2 (n+1):=g v1 (n)+k gv2 Δh This is carried out by.

[0055] This iterative adaptation replaces the original values ​​of the weighting factors with new values. If both the lateral gradient and the longitudinal height correspond to their respective target values ​​after the stabilization process, the dynamic orbital stabilizer 1 is fully adjusted and no adaptation of the weighting factors is performed.

[0056] The coefficient k used gf1 ,k gf2 ,k ga1 ,k ga2 ,k ga3 ,k ga4 ,k gv1 ,k gv2 determines the closed-loop control gains and is specified, for example, by experiment or simulation. The same applies to the initial values ​​of the operating parameters f0, a0, v0 and the initial values ​​of the weighting coefficients g f1 (0),g f2 (0),g a1 (0),g a2 (0),g a3 (0),g a4(0),g v1 (0),g v2 (0) and (1). By performing this method multiple times, experience points are gained, so that appropriate values ​​are available at the start of the work deployment.

[0057] In the expanded method incorporating the compactor 5, the following excess lift values ​​(correction values) are added to this: h ks :=(h s -h ivs )·F h q ks :=(q s -q ivs )·F q In a simple embodiment, one constant coefficient F is used to determine the overlift value. h ,F q However, it is also possible to use known methods for continuously adapting the overlift to the variable track conditions.

Claims

1. A method for correcting the vertical misalignment of a track (4) after a lifting and tamping process by means of a stabilization process carried out using a dynamic track stabilizer (1), wherein a stabilizing unit (23) acts on the track (4) at a working location (22) advancing in the working direction (7), before the lifting and tamping process, the track position data of the untreated track (4) is detected, and after the lifting and tamping process, at a measuring location (10) located in front of the stabilizing unit (23) when viewed in the working direction (7), the track position data of the tamped track (4) is detected. In the method, at a re-measuring location (21) located behind the stabilizing unit (23) when viewed in the working direction (7), additional track position data of the stabilized track (4) is detected, and during the stabilization process, depending on the track position data of the untreated track (4) and the tamped track (4) at the working location (22) and the track position data of the stabilized track (4) at the re-measuring location (21), the dynamic track stabilizer (1) is driven and controlled.

2. The track position data of the target position (20) of the track (4) is preset, and additionally during the stabilization process, for the working location (22), depending on the data of the target position (20) and the alignment data derived from the track position data of the untreated track (4), the dynamic track stabilizer (1) is driven and controlled. The method according to claim 1, characterized in that.

3. In order to detect the track position data at each of the measuring locations (10, 21), the longitudinal gradient or longitudinal height and the transverse gradient or cant of each of the tracks (4) are measured. The method according to claim 1 or 2, characterized in that.

4. During the stabilization process, depending on the detected track position data, at least one of the following operating parameters of the dynamic track stabilizer (1), namely, - vibration frequency, - Travel speed (v ｄｇｓ ) - Load acting on the left rail (al ｄｇｓ ) - Load acting on the right rail (ar ｄｇｓ ) - total load is changed. The method according to claim 1, characterized in that.

5. The stabilization process is started with the initial value of each of the operating parameters, and for each operating parameter, during the stabilization process, using an algorithm provided in a calculation unit, an adapted value is continuously calculated. The method according to claim 4, characterized in that.

6. For each of the said operating parameters, a weighting factor is stored in the said algorithm, and the weighting factor is continuously adapted using closed-loop control. The method according to claim 5, characterized in that.

7. The method according to claim 1, characterized in that the dynamic track stabilizer (1) carries along an orbit position detection system (9) including a plurality of detection devices (8), and at each of the said detection locations (10, 21), the corresponding orbit position is detected by the associated said detection device (8) with respect to a common reference system.

8. The reference system is formed by a camera (29) attached to one of the said detection devices (8) and a reference mark (30) attached to another detection device (8) and positioned in the imaging area (32) of the said camera (29). In order to detect the orbit position data, the said camera (29) is used to image the detection marks (30) attached to the remaining said detection devices (8). The method according to claim 7, characterized in that.

9. A system for implementing the method according to claim 1, comprising an orbit position detection system (9) and a dynamic track stabilizer (1) for correcting vertical position deviation at the working location (22) where the orbit (4) advances. In the system, the orbit position detection system (9) is configured to detect the orbit position at a detection location (10) placed in front of the dynamic track stabilizer (1) as seen in the working direction (7), and also at a re-detection location (21) placed behind the dynamic track stabilizer (1) as seen in the working direction (7). The dynamic track stabilizer (1) includes a control device (12) to which the orbit position data detected by the orbit position detection system (9) is supplied. The control device (12) is configured to drive and control the dynamic track stabilizer (1) depending on the orbit position data associated with the said working location (22) and the said re-detection location (21). A system, characterized in that.

10. The system according to claim 9, characterized in that the distance (a) between the said working location (22) and the said re-detection location (21) is in the range of 3 m to 10 m, particularly in the range of 5 m to 8 m.

11. The control device (12) includes a calculation unit, and an algorithm for recalculating at least one operating parameter of the dynamic track stabilizer (1) based on continuously updated track position data is implemented in the calculation unit. The system according to claim 9 or 10, characterized in that.

12. The stabilizing unit (23) includes a vibration generator (25) and a roller gripper (24) that can be tightened to the rail (14) of the track (4), and is supported by the machine frame (2) by a load drive unit (26) that can be driven and controlled separately. The system according to claim 9, characterized in that.

13. A tamping machine (5) is arranged immediately in front of the dynamic track stabilizer (1) when viewed in the working direction (7), and the track position detection system (9) includes at least one detection device (8) associated with the tamping machine (5). The system according to claim 9, characterized in that.

14. A camera (29) is attached to the first detection device (8), a reference mark (30) is attached to the second detection device (8), and at least one another detection device (8) equipped with a detection mark (30) is attached between the first detection device (8) and the second detection device (8). The system according to claim 9, characterized in that.

15. The track position detection system (9) includes a flashlight (33) that can be driven and controlled together with the camera (29). The system according to claim 14, characterized in that.

Images