CN108556636B - Pantograph closed-loop control system - Google Patents
Pantograph closed-loop control system Download PDFInfo
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- CN108556636B CN108556636B CN201810697748.XA CN201810697748A CN108556636B CN 108556636 B CN108556636 B CN 108556636B CN 201810697748 A CN201810697748 A CN 201810697748A CN 108556636 B CN108556636 B CN 108556636B
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- 230000001105 regulatory effect Effects 0.000 claims abstract description 28
- 239000013307 optical fiber Substances 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims description 11
- 238000005299 abrasion Methods 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
- B60L5/28—Devices for lifting and resetting the collector
- B60L5/32—Devices for lifting and resetting the collector using fluid pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The invention provides a pantograph closed-loop control system, and relates to the technical field of pneumatic control. The compressed air pipeline is connected with the filter in series and then is connected with the electromagnetic valve, the output port of the electromagnetic valve is connected with the input port of the servo pressure regulating valve, the control port of the five-position two-way electromagnetic valve is connected with the first port of the pantograph control unit, and the input end of the servo pressure regulating valve is connected with the sixth output control port of the pantograph control unit; the output pipeline of the servo pressure regulating valve is connected in series with a one-way throttle valve and then connected into an air bag, a safety valve and a pressure sensor are connected in parallel in an air bag pipeline connected with the one-way throttle valve, and the data output end of the pressure sensor is connected with a second port of the pantograph control unit; the other branch of the air bag is provided with a quick exhaust valve and a pressure switch; the control end of the quick exhaust valve is connected with a port III of the pantograph control unit, the data output end of the optical fiber sensor arranged on the sliding plate is connected with a port IV of the pantograph control unit, and the output end of the pressure switch is connected with a port V of the pantograph control unit.
Description
Technical Field
The invention relates to the technical field of pneumatic control of pantographs.
Background
The electric energy required by the electric train (including urban rail trains, electric locomotives and motor train units driven by the air bag type pantograph) in the running process is obtained from the contact network through the pantograph at the top of the train.
The current receiving performance is directly affected by the change of the contact pressure between the pantograph and the contact net, the contact pressure is small, the off-line of the pantograph is easy to be caused, and the contact interface of the pantograph net is burnt; in contrast, when the contact net pressure is large, the contact line can be locally bent to cause fatigue damage of the contact line, meanwhile, the abrasion of the sliding plate and the contact line is increased, the replacement frequency of the sliding plate is increased, the operation cost is increased, and the sliding plate or the contact line is broken to cause a bow net accident when serious. For this reason, the relevant standards such as IEC (international electrotechnical commission), EN (european union standard), GB (national standard in china), and TB (railway standard in china) all have clear requirements for bow net contact force.
The change of the contact pressure has close relation with the running line of the electric train, parameters of the overhead line system, geographical parameters, train speed, the shape of the pantograph, the running direction of the opening and closing of the pantograph and the like. In order to ensure that the current of the electric train is good, the contact pressure fluctuation of the contact position of the bow net is required to be small, and the compensation adjustment of the contact pressure of the bow net is required. The contact pressure between the pantograph and the contact net is realized mainly by virtue of a pantograph control system.
Patent ZL 200520142757.0 describes a pantograph control valve group which adopts a precise pressure regulating valve as an adjusting device, and the control valve group can only provide a constant lifting force by means of manual adjustment before the operation of an electric train, and the control mode is passive control, cannot be changed in real time based on the speed and the operation environment of the train, and is not suitable for high-speed and severe working conditions.
Patent ZL 200710107353.1 describes a pantograph control system driven by an air cushion to pilot, which comprises a circuit, a pressure regulator, two electric valves, a pressure sensor and other main devices, and is characterized in that the pressure regulator is matched with the two electric valves to adjust the pressure value of an air bag of the pantograph, the two electric valves respectively realize air supplementing and air discharging operation, meanwhile, a pressure sensor is arranged at an air bag port, the pressure change in an air bag is monitored and fed back to the circuit, the circuit also receives information of a train unit or a network, information of a geological positioning sensor, information of a climate sensor, train speed and the like, and the electric valves are controlled after comprehensive analysis, and the air bag pressure is adjusted through the pressure regulator. Based on the above analysis, the system described in patent ZL 200710107353.1 indirectly affects the force between the arches and the networks by adjusting the pressure value in the air bag of the pantograph, but does not consider the attenuation or amplification effect occurring when the air bag pressure value is transferred between the arches and the networks, thus being an open loop control system. Moreover, the control system is complex to realize, multiple components are needed, and the cost is high.
Patent ZL201010165635.9 describes a pantograph control device, including main components and parts such as main circuit unit, relief pressure valve, high-flow accurate proportion switching valve, solenoid valve, pressure sensor, after main circuit unit obtains train speed information, circuit situation information (information such as open wire, tunnel), pantograph situation information (information such as pantograph type, rated static contact pressure value), pantograph position information (information such as single bow, double bow, front bow, rear bow), contact net situation information (information such as contact net type, tension, span), climate information (information such as external wind speed, temperature, humidity) and operation direction information (information such as pantograph opening operation, closed operation) and the like, realizes adjusting the pressure value in the pantograph gasbag through controlling high-flow accurate proportion switching valve, and then indirectly influences the force between the pantograph and the contact net. Likewise, the control system described in the patent ZL201010165635.9 is also an open loop control system, and the large-flow precise proportional reversing valve has the disadvantages of poor electromagnetic interference resistance and high price in the use process.
In the above technical solution, at least the following problems exist:
the contact pressure of the pantograph net is influenced by the external environment and the pantograph structure, and the existing pantograph control system is a passive system and cannot be adjusted in real time along with the change of the speed and the external environment; an open loop control system can only adjust the pressure value in a pantograph air bag in real time so as to influence the contact force of a pantograph net, cannot consider the attenuation or amplification effect of a pantograph structure body when the air bag pressure is transmitted to the contact force of the pantograph net, and has the defects of more components, poor anti-interference capability, high cost and the like.
The existing control mode can not accurately control the contact force between the bow net and the contact force, so that the abrasion of the sliding plate is increased in the running process, and the running cost is increased.
Disclosure of Invention
The invention aims to provide a pantograph closed-loop control system which can effectively solve the problem of accurate control of contact force between a pantograph and a net.
The invention aims at realizing the following technical scheme: the closed loop control system of the pantograph comprises an optical fiber force sensor and a pantograph lifting air pressure system which are arranged on a pantograph slide plate, wherein a compressed air pipeline led out from a train air compressor is connected with an input port of a five-position two-way electromagnetic valve after being connected in series, an output port of the five-position two-way electromagnetic valve is connected with an input port of a servo pressure regulating valve, a control port of the five-position two-way electromagnetic valve is connected with a port I of a pantograph control unit, and the control port of the five-position two-way electromagnetic valve is used for feeding back the state of the five-position two-way electromagnetic valve to the pantograph control unit; the input end of the servo pressure regulating valve is connected with the output control port six of the pantograph control unit and is used for controlling the output of the servo pressure regulating valve; an output pipeline of the servo pressure regulating valve is connected in series with a pantograph lifting one-way throttle valve and then connected into an air bag, a safety valve and a pressure sensor are connected in parallel in an air bag pipeline connected with the one-way throttle valve, and a data output end of the pressure sensor is connected with a second port on the pantograph control unit; the other branch of the air bag is provided with a quick exhaust valve and a pressure switch; the control end of the rapid exhaust valve is connected with a port III on the pantograph control unit and used for rapidly exhausting compressed air in the air bag, and the data output end of the optical fiber force sensor arranged on the sliding plate is connected with a port IV on the pantograph control unit and used for feeding back detected contact force data between the pantograph and the net; the output end of the pressure switch is connected with a port five on the pantograph control unit and used for detecting fault detection of the pantograph.
The pantograph control unit is provided with a port seven for communicating with a train.
And the train communication port seven acquires the train running speed, the train running state and the line state for closed-loop control through communication with a train.
The communication mode between the train communication port seven and the train is as follows: serial port, multifunctional train bus MVB or ethernet.
And an air outlet of the servo pressure regulating valve is provided with a bow-reducing throttle valve for regulating the bow-reducing speed.
According to the technical scheme provided by the invention, the pantograph closed-loop control system provided by the embodiment of the invention can realize closed-loop control, detect the contact pressure between the pantograph and the overhead line in real time and feed back the contact pressure to the pantograph control unit, comprehensively analyze the external conditions such as the train running speed, the train running state and the line state, automatically, quickly and accurately regulate the pressure of the air bag, further dynamically control the contact pressure between the pantograph nets so as to reduce the abrasion between sparks and the pantograph nets, achieve the purposes of ensuring the safe, reliable and high-speed running of the train and reducing the abrasion of the carbon sliding plate so as to save the running cost, and simultaneously, when the parts are in failure, the system can automatically cut off the closed-loop control, only operate in an open-loop control or passive mode and can quickly and automatically drop the pantograph so as to protect the pantograph and the overhead line from being greatly damaged in an emergency state.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention.
Example 1
As shown in fig. 1, a closed loop control system for a pantograph, capable of detecting contact pressure between the pantograph and a catenary in real time and feeding back to a pantograph control unit, comprehensively analyzing external conditions such as train running speed, train running state and line state, performing real-time closed loop control on the pantograph by using compressed air from a train, and dynamically adjusting contact pressure of the pantograph and the catenary to facilitate current collection, comprises: a filter 1, a five-position two-way electromagnetic valve 2, a servo pressure regulating valve 3, a pantograph lifting one-way throttle valve 4, a safety valve 5, an air bag 6, a pantograph control unit 7, a pressure sensor 8, a quick exhaust valve 9, a pressure switch 10, a slide plate 11 and an optical fiber force sensor 12; the servo pressure regulating valve 3 has two working modes of passive and automatic regulation; the optical fiber force sensor 12 is used for detecting the contact force between the pantograph and the net in real time and inputting the contact force to the pantograph control unit 7 through a port IV 13; the pantograph control unit 7 comprehensively analyzes the detection data and the train line state information, and outputs a control signal to the servo pressure regulating valve 3 through a port six 18 to dynamically regulate the contact force between the pantograph and the network; when the closed loop control system of the pantograph fails and the six ports 18 have no output signals or output disorder, the servo pressure regulating valve 3 is automatically switched into a passive working mode, the output value is adjusted in advance in the mode, compressed air directly enters the air bag 6 without adjustment, and at the moment, the pressure in the air bag of the pantograph is constant, namely the contact force between the pantograph and the net is not adjusted in real time; meanwhile, in an emergency state, the pantograph control unit 7 can control the quick exhaust valve 9 through the third port 15, so that the pantograph is quickly lowered, the pantograph and the overhead line system are prevented from being damaged more greatly, and the pantograph and the overhead line system are actively protected;
the concrete connection mode is as follows: the filter 1 receives compressed air from a train, performs filtering and drying treatment, and then outputs the air to the five-position two-way electromagnetic valve 2; the five-position two-way solenoid valve 2 is controlled by a train operator through a hard wire and feeds back the state of the valve to the pantograph control unit 7 through a port one 19; when power is supplied, the five-bit two-way electromagnetic valve 2 is conducted, compressed air directly passes through the five-bit two-way electromagnetic valve 2, and when power is lost, the five-bit two-way electromagnetic valve 2 is disconnected to block the compressed air from entering the air bag 6; compressed air output from the five-position two-way electromagnetic valve 2 sequentially flows through the servo pressure regulating valve 3, the arch-lifting one-way throttle valve 4 and the safety valve 5 and then enters the air bag 6; the pressure sensor 8 is connected with the air bag 6, and the data output end of the pressure sensor is connected with a second port 16 on the pantograph control unit 7 and is used for detecting the pressure information of the air bag 6; the input end of the servo pressure regulating valve 3 is connected with an output control port six 18 of the pantograph control unit 7 and is used for controlling the output of the servo pressure regulating valve 3; the optical fiber force sensor 12 is arranged on the sliding plate 11, and the data output end of the optical fiber force sensor is connected with a port IV 13 on the pantograph control unit 7 and is used for feeding back detected inter-pantograph-network contact force data;
wherein, the air bag 6 is also connected with a quick exhaust valve 9 and a pressure switch 10; the control end of the quick exhaust valve 9 is connected with a third port 15 on the pantograph control unit 7 and is used for quickly exhausting the compressed air in the air bag 6;
the output end of the pressure switch 10 is connected with a port five 14 on the pantograph control unit 7 for detecting faults of the pantograph, and when the pressure value in the air bag 6 reaches a set value, the pantograph is considered to be lifted and work normally, otherwise, the pantograph is considered to have faults;
the pantograph control unit 7 adopts an STM32F103VET6 singlechip, and arranges seven wiring ports according to actual demands, including a train communication port seven 17. The train communication port seven 17 acquires a train running speed, a train running state (a position of a pantograph on a train, a running direction of the train and the pantograph, whether a fault related to the pantograph exists) and a line state (whether a tunnel, mileage information and temperature and humidity information exist) for closed-loop control through the train; the communication mode between the train communication port seven 17 and the train is as follows: serial ports, MVB (multi-function train bus) or ethernet;
the air outlet of the servo pressure regulating valve 3 is connected with a bow-lowering throttle valve 20 for regulating the bow-lowering speed so as to avoid damaging the roof or the pantograph body;
the optical fiber force sensor 12 adopts optical fibers to transmit data, and has good anti-interference performance.
Further, the working principle of the pantograph closed-loop control system is as follows:
under the normal working condition, an electric train driver sends out an arch lifting signal, the five-position two-way electromagnetic valve 2 is electrically connected, and compressed air sequentially passes through the filter 1, the five-position two-way electromagnetic valve 2, the servo pressure regulating valve 3, the arch lifting one-way throttle valve 4 and the safety valve 5 to reach the air bag 6; at this time, the pressure switch 10 is closed to output a pantograph normal operation signal to the pantograph control unit 7, and the pantograph control unit 7 controls the quick exhaust valve 9 to be closed. At this time, the servo pressure regulating valve 3 operates in an automatic regulation mode, and when the speed is greater than zero, the pantograph control unit 7 receives external information from the pressure sensor 8, the optical fiber sensor 12 and the external information obtained through the train communication port seven 17 to precisely and rapidly control the inflation amount and the deflation amount of the air bag 6, so that the contact pressure between the pantograph and the net is always maintained at a reasonable level. And when the speed is equal to zero, the six 18 output signal of the port of the pantograph control unit 7 is zero, namely the output value of the servo regulating valve is a constant value. The corresponding arch-lifting one-way throttle valve 4 controls the flow rate of the compressed air to control the flow rate of the compressed air entering the air bag 6. The bow reducing throttle valve 20 is used for controlling the discharge flow rate of the compressed air;
when the optical fiber force sensor 12 fails, the pantograph control unit 7 actively closes the transmission of the data of the port IV 13, and at the moment, the pantograph control unit 7 does not receive the data from the optical fiber force sensor 12, and the whole control system works in an open loop control state;
when any one of the servo control valve 3, the pantograph control unit 7, or the pressure switch 10 fails, the servo control valve 3 automatically enters a passive operation mode. In this mode, the output value is adjusted in advance, and the compressed air directly enters the air bag 6 without adjustment, i.e. the pressure value of the compressed air entering the air bag 6 is constant at this time; the emergency scheme can provide the static bow net contact pressure which is approximately unchanged for the air bag, so that the train can still continue to run under the condition that a system for accurately controlling the air bag pressure fails, the failure rate of the whole system is reduced, and the availability is improved.
When the conditions of pantograph scraping, contact line breakage and the like, which need the emergency descending of the pantograph, occur, a train operator or a pantograph control unit 7 automatically generates an emergency descending instruction, the pantograph control unit 7 automatically closes the output of a port six 18 when obtaining the instruction, and controls the conduction of a quick exhaust valve 9 through a port three 15, and compressed air in the air bag 6 is rapidly discharged due to the fact that the design exhaust amount of the quick exhaust valve 9 is larger than the air inflow of the air bag 6, and the pantograph descends; meanwhile, the pantograph control unit 7 feeds back that the pantograph control system has implemented a rapid pantograph lowering instruction through the train communication interface seven 17, and then the train control system automatically cuts off the five-bit two-way electromagnetic valve 2, so that compressed air cannot enter the air bag 6.
The implementation of the embodiment of the invention can enable the pantograph control system to realize closed-loop control, detect the contact pressure between the pantograph and the overhead contact system in real time and feed back to the pantograph control unit, comprehensively analyze the external conditions such as the train running speed, the train running state, the line state and the like, automatically, quickly and accurately adjust the pressure of the air bag 6, further dynamically control the contact pressure between the pantograph nets so as to reduce the abrasion between sparks and the pantograph nets, achieve the purposes of ensuring the safe, reliable and high-speed running of the train and reducing the abrasion of the carbon sliding plate so as to save the running cost, and simultaneously, when the parts are out of order, the system can automatically cut off the closed-loop control, only run in an open-loop control or passive mode and can quickly and automatically drop the pantograph so as to protect the pantograph and the overhead contact system from being greatly damaged in an emergency state.
In the foregoing, only the preferred embodiments of the present invention are described, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present invention should be covered by the present invention. All other embodiments, which can be made by those skilled in the art without the inventive effort, are intended to be within the scope of the present invention.
Claims (5)
1. The utility model provides a pantograph closed-loop control system, includes optical fiber force transducer (12) and the lift bow pneumatic system of setting on pantograph slide (11), its characterized in that: the compressed air pipeline led out from the train air compressor is connected with the filter (1) in series and then is connected with the input port of the five-bit two-way electromagnetic valve (2), the output port of the five-bit two-way electromagnetic valve (2) is connected with the input port of the servo pressure regulating valve (3), the control port of the five-bit two-way electromagnetic valve (2) is connected with the port I (19) of the pantograph control unit (7), and the control port I is used for feeding back the state of the five-bit two-way electromagnetic valve (2) to the pantograph control unit (7); the input end of the servo pressure regulating valve (3) is connected with an output control port six (18) of the pantograph control unit (7) and is used for controlling the output of the servo pressure regulating valve (3); an output pipeline of the servo pressure regulating valve (3) is connected in series with the pantograph lifting one-way throttle valve (4) and then connected with the air bag (6), a safety valve (5) and a pressure sensor (8) are connected in parallel with the pipeline of the air bag (6) connected with the one-way throttle valve (4), and a data output end of the pressure sensor (8) is connected with a port II (16) on the pantograph control unit (7); the other branch of the air bag (6) is provided with a quick exhaust valve (9) and a pressure switch (10); the control end of the quick exhaust valve (9) is connected with a port III (15) on the pantograph control unit (7) and is used for quickly exhausting compressed air in the air bag (6), and the data output end of an optical fiber force sensor (12) arranged on the sliding plate (11) is connected with a port IV (13) on the pantograph control unit (7) and is used for feeding back detected inter-pantograph network contact force data; the output end of the pressure switch (10) is connected with a port five (14) on the pantograph control unit (7) and is used for detecting fault detection of the pantograph to realize closed-loop control, detecting contact pressure between the pantograph and the overhead line in real time and feeding back the contact pressure to the pantograph control unit, comprehensively analyzing train running speed, train running state and line state, automatically, quickly and accurately adjusting the pressure of the air bag, further dynamically controlling the contact pressure between the pantograph nets and reducing abrasion between sparks and the pantograph nets.
2. A pantograph closed-loop control system according to claim 1, wherein: the pantograph control unit (7) is provided with a port seven (17) for communicating with a train.
3. A pantograph closed loop control system according to claim 2, wherein: the port seven (17) for communicating with the train acquires the train running speed, the train running state and the line state for closed-loop control through communicating with the train.
4. A pantograph closed loop control system according to claim 2, wherein: the communication mode between the port seven (17) for communicating with the train and the train is as follows: serial port, multifunctional train bus MVB or ethernet.
5. A closed loop control system for a pantograph according to claim 1 or 2, characterized in that the outlet of the servo pressure regulating valve (3) is provided with a pantograph reducing throttle valve (20) for regulating the pantograph reducing speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810697748.XA CN108556636B (en) | 2018-06-29 | 2018-06-29 | Pantograph closed-loop control system |
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| CN201810697748.XA CN108556636B (en) | 2018-06-29 | 2018-06-29 | Pantograph closed-loop control system |
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| CN108556636A CN108556636A (en) | 2018-09-21 |
| CN108556636B true CN108556636B (en) | 2024-01-26 |
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