CN107792117B - Locomotive wheel diameter self-checking device and method based on radar - Google Patents
Locomotive wheel diameter self-checking device and method based on radar Download PDFInfo
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- CN107792117B CN107792117B CN201710824742.XA CN201710824742A CN107792117B CN 107792117 B CN107792117 B CN 107792117B CN 201710824742 A CN201710824742 A CN 201710824742A CN 107792117 B CN107792117 B CN 107792117B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/12—Measuring or surveying wheel-rims
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
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Abstract
The invention discloses a kind of locomotive wheel diameter self-checking device and method based on radar, using radar velocity measurement, radar acquires the actual motion distance and actual motion speed of locomotive；Locomotive wheel diameter value is modified using step calibration wheel routing method, the locomotive wheel diameter value of modification in every 1000 seconds, the difference of modification cannot be more than 1 millimeter, until calculated value and current wheel footpath value are identical.High using the precision of radar calibration, radar calibration is accurately millimeter rank；It is not limited by working line, can be widely applied to the various routes such as straight line, curve, ramp；The situations such as radar does not reside on locomotive spindle nose or motor, and radar speed can detect that idle running compared with spindle nose speed or motor speed, slide.Locomotive wheel diameter value is modified using step calibration wheel routing method, the wheel footpath modification mode for solving the prior art is simple, amendment or uninterrupted modified defect repeatedly when being more than a certain particular value.
Description
Technical field
The present invention relates to locomotive wheel diameter collimation technique fields, and in particular to a kind of locomotive wheel diameter based on radar is calibrated automatically
Device and method.
Background technique
Locomotive long-play leads to the abrasion of wheel, and the reduction of wheel footpath value causes the locomotive speed calculated to be greater than practical machine
The drag torque that the size of vehicle speed, locomotive speed influences locomotive control and monitoring system (hereinafter referred to as TCMS) applies, in turn
Influence the stationarity of locomotive operation.And locomotive difference axle wheel footpath value it is not identical when, drag torque that different axles apply
Difference is needed, guarantees locomotive even running.So TCMS needs to increase wheel footpath automatic calibration function, the even running of locomotive is adapted to
It is required that.
Currently, locomotive wheel diameter automatic calibrating method mainly has several, but all have some disadvantages to varying degrees.
The prior art one: the locomotive wheel diameter calibration method of satellite positioning.It is positioned by position of the satellite to locomotive, really
Fixed wheel diameter calibrates the location information of test point, and detection locomotive passes through the vehicle wheel rotational speed and practical distance travelled, meter between test point
Calculation obtains new wheel footpath value, and wheel footpath value=reality is distance travelled/(vehicle wheel rotational speed * π).Judge new wheel footpath value and former wheel footpath value it
Between difference whether be greater than the 1% of former wheel footpath value, if it is greater, then being modified to wheel footpath value；If it is not greater, then not to wheel
Diameter value is modified.
Disadvantage one: the accuracy of satellite positioning is low.Ideally, the accuracy of civilian property is 3 meters, military property
Accuracy is 0.3 meter.The satellite positioning of locomotive is civilian property, and the calibration value that 3 meters of error range will lead to wheel footpath has deviation.
Disadvantage two: narrow application range.Route is usual between two wheel footpath calibration test points and two wheel footpath calibration test points
It is arranged in the identical area of height above sea level, the area that height above sea level changes, which will lead to, calibrates school measuring point by the wheel footpath that satellite positioning obtains
The accuracy of the distance between error amount expand.
Disadvantage three: wheel footpath correction conditions are stringent.Difference between new wheel footpath value and former wheel footpath value is greater than former wheel footpath value
When 1%, start to correct wheel footpath value.1% error amount, which will lead to axle weight transfer, deviation, and each axis tractive force applies unbalanced, machine
Vehicle operation is unstable.
The prior art two: the locomotive wheel diameter calibration method of transponder positioning.Choose the two neighboring response on straight route
The reference data that device is corrected as wheel footpath measures the actual range between two transponders.Detect locomotive by reference to benchmark it
Between vehicle wheel rotational speed, the range ability in specified time is obtained according to vehicle wheel rotational speed, finally according to the reality of range ability and measurement
The ratio and wheel footpath initial value of border distance, are calculated new wheel footpath value.Repeatedly measurement takes the average value of new wheel footpath value, sentences
Whether there is difference between disconnected wheel footpath average value and former wheel footpath value, if so, being then modified to wheel footpath value；If it is not,
Wheel footpath value is not modified.
Disadvantage one: narrow application range.Route is generally arranged at height above sea level phase between two neighboring transponder and two transponders
With area, the device for receiving transponder is needed for transponder to be artificially mounted on locomotive operation route and installed on locomotive.Ginseng
Examining benchmark setting causes wheel footpath automatic calibration condition to be difficult to meet.
Disadvantage two: it is simple that wheel footpath modifies mode.Between wheel footpath average value and former wheel footpath value when having difference, start amendment wheel
Diameter value.Directly replace former wheel footpath value using wheel footpath average value, causes wheel footpath value to be corrected repeatedly, while large range of wheel footpath value
Modification will lead to the stationarity of locomotive operation.
Summary of the invention
For solve the wheel footpath calibration method that is widely used at present there are the drawbacks of, the present invention provides a kind of based on radar
Locomotive wheel diameter self-checking device and method.
The technical scheme adopted by the invention is that: the locomotive wheel diameter self-checking device based on radar, including locomotive radar,
Analog acquisition device, locomotive microcomputer, main convertor and velocity sensor；Locomotive radar transmissions locomotive linear velocity is adopted to analog quantity
Acquisition means, velocity sensor conveyer axle head speed give analog acquisition device, and analog acquisition device passes through MVB, ether
Net, CAN and locomotive microcomputer communicate with each other, and it is micro- that motor speed by MVB, Ethernet or CAN is transferred to locomotive by main convertor
Machine communicates with each other with locomotive microcomputer.
The locomotive radar is mounted on locomotive, with locomotive operation.
Locomotive wheel diameter automatic calibrating method based on radar, using the locomotive wheel diameter self-checking device based on radar,
Method includes the following: radar velocity measurement, and radar acquires the actual motion distance and actual motion speed of locomotive；Using step calibration wheel
Routing method modifies locomotive wheel diameter value, and the locomotive wheel diameter value of modification in every 1000 seconds, the difference of modification cannot be more than 1 millimeter, directly
It is identical to calculated value and current wheel footpath value.
It further include substep wheel footpath calibration Effective judgement, when meeting following decision condition, wheel footpath calibration value is effective；It is no
Then, wheel footpath calibration value is invalid；
A, locomotive speed sensor is normal；
B, locomotive speed is more than fixed value V1, and the range of V1 is 20km/h~80km/h；
C, locomotive does not apply traction instruction and electricity system instruction；
D, the drag torque and electricity torque that locomotive applies all are 0；
E, locomotive air braking is in relieved state；
F, locomotive is not at idle running or sliding state.
It further include idling slide state-detection, radar speed is compared with spindle nose speed or motor speed, when difference is more than
The range of V2, V2 are 3km/h~10km/h, while the duration is more than set time T, when the range of T is 3s~6s, is then judged
Current locomotive state is idle running or slides.
Further include that substep wheel footpath calibration method mistake is improved, is corrected at a slow speed using the effective average value of wheel footpath.
The beneficial effects of the present invention are: the precision using radar calibration is high, radar calibration is accurately millimeter rank；Not by
Working line limitation, can be widely applied to the various routes such as straight line, curve, ramp；Radar does not reside at locomotive spindle nose or motor
On, the situations such as radar speed can detect that idle running compared with spindle nose speed or motor speed, slide.Using step calibration wheel footpath
Method modifies locomotive wheel diameter value, and the wheel footpath modification mode for solving the prior art is simple, amendment or anti-when being more than a certain particular value
Multiple uninterrupted modified defect.
Detailed description of the invention
Fig. 1 is the locomotive wheel diameter self-checking device block diagram based on radar.
Fig. 2 is the cumulative flow chart of step calibration wheel routing method wheel footpath value of the present invention.
Fig. 3 is step calibration wheel routing method wheel footpath value calibration flow chart of the present invention.
Specific embodiment
Invention is described further now in conjunction with attached drawing,
One, radar velocity measurement, radar speed have the characteristics that accuracy is high, and radar velocity measurement mainly utilizes Doppler effect,
Locomotive linear velocity is calculated.Locomotive radar is mounted on locomotive, with locomotive actual motion, therefore is applicable to locomotive operation and is existed
The various road conditions such as straight line, curve, ramp.
As shown in Figure 1, analog acquisition device obtains the locomotive linear velocity and velocity sensor transmission of locomotive radar transmissions
Locomotive spindle nose speed.Obtained numerical value is transferred to locomotive microcomputer by MVB, Ethernet or CAN by analog acquisition device.
Motor speed is transferred to locomotive microcomputer by MVB, Ethernet or CAN by main convertor.
Two, idling slide state-detection
Radar does not reside on locomotive spindle nose, so radar speed works as difference compared with spindle nose speed or motor speed
, can be different according to the numerical value of different vehicle fixed value V2 more than fixed value V2,3km/h-10km/h range is generally arranged in V2
It is interior, such as difference is more than more than 5km/h.When the duration is more than set time T simultaneously, then judge current locomotive state for idle running
Or it slides.Radar velocity measurement can detecte out idle running or sliding state caused by the bad weathers such as rainy day, snowy day.Set time T
Generally it is arranged between 3 seconds to 60 seconds, such as set time T is 5 seconds.Under common situation, speed difference is bigger, and the set time gets over
It is small.
Three, wheel footpath calibration value calculates
Locomotive radar emission is vertically less than 90 degree with ground angle, and mounting height is closer away from ground, the output of locomotive radar
Microwave calculates locomotive wire speed using doppler principle.The velocity interval value that radar calculates is very wide, is suitable for various.When
When locomotive is run with certain speed, the variation of locomotive radar output speed has certain limitation, it is ensured that obtained radar speed is steady
It is qualitative.Locomotive radar has self-checking function, after receiving signal, square-wave signal is sent to microcomputer, to determine the work of radar
State.The velocity amplitude of locomotive radar is frequency quantity, is converted into locomotive linear velocity by transformation of scale.
Four, wheel footpath calibrates Effective judgement
When meeting wheel footpath calibration availability deciding condition, wheel footpath calibration value is effective；Otherwise, wheel footpath calibration value is nothing
Effect.Wheel footpath calibration availability deciding condition generally includes several following:
1) locomotive speed sensor is normal；
2) locomotive speed is more than fixed value V1, can be different according to the numerical value of different vehicle fixed values, and fixed value V1 is universal
It is arranged within the scope of 20km/h-80km/h, such as locomotive speed is more than 30km/h；
3) locomotive does not apply traction instruction and electricity system instruction；
4) drag torque and electricity torque that locomotive applies all are 0；
5) locomotive air braking is in relieved state；
6) locomotive is not at idle running or sliding state.
Five, step calibration wheel routing method
Using step calibration wheel routing method modify locomotive wheel diameter value, the locomotive wheel diameter value of modification in every 1000 seconds, modification
Difference cannot be more than 1 millimeter, until calculated value and current wheel footpath value are identical.
When wheel footpath calibration value is effective, timer is started from scratch timing；When wheel footpath calibration value is invalid, the timing of timer
Value remains unchanged；When the clocking value of timer is 1000 seconds, the clocking value of timer resets reclocking.
When the clocking value of timer is from 0 second to 1000 second, wheel footpath calibration value is added up.It, will when clocking value is 1000 seconds
Accumulated value obtains the effective average value of wheel footpath in 1000 seconds divided by the number of wheel footpath calibration value.When clocking value became 0 second from 1000 seconds
When, the cumulative clearing of wheel footpath calibration value starts the calculating of effective average value next time.
The effective average value of the wheel footpath being calculated and current wheel footpath value are made comparisons, the wheel footpath obtained every time is effectively average
Value may only do primary comparison.If effective average value is bigger than current wheel footpath value and difference is less than or equal to 1 millimeter, will work as
Preceding wheel footpath value adds difference；If effective average value is bigger than current wheel footpath value and difference is greater than 1 millimeter, by current wheel
Diameter value adds 1 millimeter；If effective average value is worth small and difference than current wheel footpath and is less than or equal to 1 millimeter, by current wheel
Diameter value subtracts difference；If effective average value is worth small and difference than current wheel footpath and is more than or equal to 1 millimeter, by current wheel footpath
Value subtracts 1 millimeter.
Six, step calibration wheel footpath method fault improves
Current step calibration algorithm be not revised as under certain conditions, and the effective average value of wheel footpath is quickly corrected；At certain
Under the conditions of kind, the effective average value of wheel footpath is corrected at a slow speed.It is found when actually vehicle is tested, the modified of this step calibration algorithm
Effect will lead to wheel footpath calibration failure, and locomotive traction power limit reduces.
When meeting certain condition, the effective average value of wheel footpath is quickly corrected, and causes to correct at a slow speed close to correct target
The effective average value of wheel footpath is reverse-biased or toning, then on the basis of this new mistake, the effective average value of wheel footpath is again again
It is corrected at a slow speed to correct target wheel footpath, this, which will lead to live locomotive wheel diameter always and has, repairs big (wheel footpath only can subtract and will not add according to reason)
And the wheel footpath that do not return is repaired, it finally varies, causes according to the effective average value of this revised wheel footpath of step calibration algorithm
Locomotive revolving speed mismatches, and locomotive traction power limit reduces.
Claims (3)
1. the locomotive wheel diameter automatic calibrating method based on radar, using the locomotive wheel diameter self-checking device based on radar, the dress
It sets including locomotive radar, analog acquisition device, locomotive microcomputer, main convertor and velocity sensor；Locomotive radar transmissions locomotive
Linear velocity gives analog acquisition device, and velocity sensor conveyer axle head speed gives analog acquisition device, analog acquisition
Device is communicated with each other by MVB, Ethernet, CAN and locomotive microcomputer, and main convertor passes through MVB, Ethernet or CAN for motor
Revolving speed is transferred to locomotive microcomputer, communicates with each other with locomotive microcomputer, and the locomotive radar is mounted on locomotive, with locomotive operation,
It is characterized by: its method includes the following: radar velocity measurement, radar acquires the actual motion distance and actual motion speed of locomotive；
Locomotive wheel diameter value is modified using step calibration wheel routing method, the locomotive wheel diameter value of modification in every 1000 seconds, the difference of modification can not
Until calculated value and current wheel footpath value are identical, to further include substep wheel footpath calibration Effective judgement, meet as follows more than 1 millimeter
When decision condition, wheel footpath calibration value is effective；Otherwise, wheel footpath calibration value is invalid；
A, locomotive speed sensor is normal；
B, locomotive speed is more than fixed value V1, and the range of V1 is 20km/h~80km/h；
C, locomotive does not apply traction instruction and electricity system instruction；
D, the drag torque and electricity torque that locomotive applies all are 0；
E, locomotive air braking is in relieved state；
F, locomotive is not at idle running or sliding state.
2. the locomotive wheel diameter automatic calibrating method according to claim 1 based on radar, it is characterised in that: further include idle running
Sliding state detection, radar speed is compared with spindle nose speed or motor speed, and when difference is more than V2, the range of V2 is 3km/h
~10km/h, while the duration is more than set time T, when the range of T is 3s~6s, then judges current locomotive state for idle running
Or it slides.
3. the locomotive wheel diameter automatic calibrating method according to claim 1 based on radar, it is characterised in that: further include substep
Wheel footpath calibration method mistake is improved, and is corrected at a slow speed using the effective average value of wheel footpath.
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| CN110920667B (en) * | 2019-11-14 | 2021-09-10 | 交控科技股份有限公司 | Automatic train wheel diameter correcting method and device |
| CN110861678B (en) * | 2019-11-27 | 2021-03-30 | 通号城市轨道交通技术有限公司 | Train wheel diameter checking method and device |
| CN114620096B (en) * | 2020-12-10 | 2023-05-09 | 比亚迪股份有限公司 | Processing method after wheel diameter calibration failure, vehicle-mounted controller, train and medium |
| CN113050520A (en) * | 2021-03-31 | 2021-06-29 | 安徽理工大学 | Locomotive anti-idling device based on DSP |
| CN114735046B (en) * | 2022-03-14 | 2023-04-25 | 中车青岛四方车辆研究所有限公司 | Train wheel diameter measurement system |
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