CN108819963A - A kind of automatic centering control device with wear compensation - Google Patents
A kind of automatic centering control device with wear compensation Download PDFInfo
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- CN108819963A CN108819963A CN201810361325.0A CN201810361325A CN108819963A CN 108819963 A CN108819963 A CN 108819963A CN 201810361325 A CN201810361325 A CN 201810361325A CN 108819963 A CN108819963 A CN 108819963A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
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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
- B61K9/08—Measuring installations for surveying permanent way
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- Machines For Laying And Maintaining Railways (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of automatic centering control device with wear compensation, including：Centering sensor obtains the rail exterior feature data on the inside of rail, and visits the physical location of wheel；Wear compensation computing unit calculates the rail head abrasion loss of rail according to the rail exterior feature data on the inside of rail, calculates wear compensation amount by the abrasion loss, and compensate to centering a reference value according to wear compensation amount at least point third gear；PID control unit according to the centering a reference value through overcompensation that wear compensation computing unit exports, and visits the physical location progress PID control of wheel, and export centering controlling value.The present invention is able to solve to be worn away on serious rail in rail head, in the normal situation of centralising device control deviation, still serious the technical issues of losing wave.
Description
Technical field
The present invention relates to railway engineering fields, are applied to detecting wheel of rail flaw detecting car automatic centering control more particularly, to one kind
The automatic centering control device with wear compensation.
Background technique
Currently, the domestic automatic centering system all imports formally used on 80km/h rail-defect detector car are from U.S. Sperry
Company involves great expense, and standby redundancy is also at high price, and wherein centering control algolithm is core technology without transferring the possession of, for looking into
The centering control algolithm documents and materials for national line rail state ask are very few.Ultrasonic rail flaw detection is current generation
Hurt inside the generally acknowledged early detection rail in boundary, reduces broken rail risk, improves the most effective, most important of train operational safety
One of means.The key core technologies that wheel automatic centering control is rail-defect detector car are visited, how to control spy wheel position makes ultrasonic wave
Effectively incidence rail will directly affect carrying out flaw detection quality and effect.The purpose for visiting wheel automatic centering control, which is to ensure that, to be visited at wheel
In in the certain deviation range in rail center, making the junction for visiting wheel and rail tread be conducive to each channel ultrasonic incidence, especially
Bottom wave reflection is the main indicator for measuring centering control effect.
According to studies have shown that the echo attenutation of bottom wave is more than when ultrasonic wave visits wheel and rail centre deviation greater than 4mm
50%, system can determine to be in die misalignment state.Currently, common centering control method is counted according to wheel position deviation is visited
The control amount of servo-control system is calculated, then is driven by executing agency and visits wheel transverse shifting on rail, reduction and center
Deviation.This deviation, which can control, on high iron wire is less than 1mm, both wired upper less than 2.5mm.But pass through long term test,
It was found that, even if the deviation for visiting wheel and center controls in the reasonable scope, still will appear on the rail that rail head has abrasion
Bottom wave is lost, and the value for losing wave-path degree and abrasion is positively correlated.In this case, operator can only be adjusted by being manually operated
Whole spy wheel position, which is reduced, loses wave, temporarily solves the problems, such as although doing so, also artificially changes the benchmark of centering control, drop simultaneously
The low precision of subsequent control.
It as shown in Fig. 1, is ultrasonic rail flaw detection schematic illustration, (ultrasonic wave) visits 1 lining of wheel and be equipped with various angles
Ultrasound (wave) chip 2, be responsible for carrying out scanning from the hurt of different zones and different angle to rail 3, be only in them
Suitable position visits the tyre tread center that 1 wheel is in rail 3, just can guarantee the validity of carrying out flaw detection.How to judge to visit wheel 1
Whether the center of rail 3 is in, and current main judgment basis is the ultrasonic echo intensity of 0 ° of chip 21.
As shown in Fig. 2, when visiting center of the wheel 1 in rail 3, ultrasonic wave acoustic beam (such as attached drawing 2 of 0 ° of chip 21 transmitting
Shown in middle A) main energetic part can pass through the web of the rail of rail 3 and reach rail bottom and form strong reflection and connect again by 0 ° of chip 21
It receives.Show the echo attenutation meeting of rail bottom when (ultrasonic wave) visits wheel 1 and the centre deviation of rail 3 is greater than 4mm through practical studies
More than 50%, system can determine to need through automatic centering system come correction of deviation at this time in die misalignment state.
The basic principle frame of automatic centering system is as shown in Fig. 3, and automatic centering system includes：Visit wheel 1, PID control list
Member 4, centering control unit 5, electric cylinders 6 and centering sensor 7.The physical location for visiting wheel 1 is input to PID control by centering sensor 7
Unit 4 processed is compared with the centering benchmark of setting, by centering control algolithm generate control amount to centering control unit 5 come
Driving electric cylinders 6 drive and visit 1 movement of wheel, the deviation of reduction and centering benchmark.In figure, nkIt is the physical location for visiting wheel 1；n0It is setting
Centering benchmark, ekIt is the position deviation for visiting wheel 1, ek=nk-n0, EkIt is the control amount according to the output of centering control algolithm, it is common
Control algolithm have：
(1) it directly controls, Ek=ek；
(2) PID control, Ek=Aek-Bek-1+Cek-2, wherein ekFor kth time position deviation, ek-1It is inclined for -1 position of kth
Difference, ek-2For -2 position deviations of kth, A, B, C are pid parameter, use such control mode as shown in Fig. 3.
By above method, can be controlled under the conditions of rail type standard, wheel rail relation are normal spy wheel 1 with to middle benchmark it
Between deviation in the reasonable scope, without occur bottom wave loss.
However, in actual moving process it is often found that, in some sections, although the deviation of centering control meets the requirements,
But still there is serious bottom wave Loss.These sections often meet following characteristics：
(1) 800m sharp radius curve below；
(2) there are more serious abrasion for the rail head on the inside of rail；
(3) wheel rail relation, which changes, causes the ultrasonic incident area for visiting wheel and tyre tread contact portion to reduce.
As shown in Fig. 4, on sharp radius curve, as the presence of rail cant (as shown in B in attached drawing 4), certain speed
It rubs on the inside of lower wheel and rail, so as to cause serious abrasion.Under this wheel rail relation, the incidence of bottom wave and rail bottom
Out of plumb, portion of energy are stopped by the inside web of the rail, along with railhead part missing causes bottom wave to enter effectively incident reduction, will lead to
Bottom wave echo deep fades, reach the undesirable Rule of judgment of system alignment.
It according to the above analysis, in rail head there are in the case where heavy wear, needs to change the position of centering benchmark, makes to visit and take turns
1 is mobile to the outside of rail 3, increases the projectile energy of bottom wave, it is therefore desirable to determine the relationship between abrasion and centering benchmark.
In the prior art, mainly there is following documents related to the present patent application：
Document 1 is that Xu Qingxia, Chai Xiaodong, Zheng Shubin, Liu Xin factory are published in in September, 2013《Shanghai University Of Engineering Science
Journal》Paper on 3rd phase volume 27《A kind of new method of measurement of rail wear》.
Document 2 is Sun Junhua, Wang Weihua, Liu Zhen, Zhang Guangjun are published in in September, 2010《BJ University of Aeronautics & Astronautics is learned
Report》Paper on 9th phase volume 36《Measurement of rail wear method based on structure light vision》.
But above two articles are the abrasion that rail head of rail is measured by structure light vision measuring systems, reason
It is by foundation《Railway track Maintenance Rule》Regulation：The vertical abrasion Wv of rail is at rail surface wide 1/3 (away from canonical action
Side) it measures, side wear Wh is measured at 16m below away from rail top, total wearing valveThis survey
Amount mode is primarily adapted for use in tested rail and remains static with measuring system, and structure light can completely reflect profile, and just having can
It can obtain required measurement point parameter.In short, above two articles are to study how to wear away according to standard specifying measurement,
But in vehicle movement, the rail exterior feature of structure light is often imperfect, and the data of two required positions are likely to not have.Therefore,
Needing to study a kind of can solve the problems, such as this to the mode that is compensated automatically of control benchmark according to wearing valve.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of automatic centering control device with wear compensation, to solve
It is worn away on serious rail in rail head, in the normal situation of centralising device control deviation, still serious the technical issues of losing wave.
In order to achieve the above-mentioned object of the invention, the present invention specifically provides a kind of automatic centering control device with wear compensation
Technic relization scheme, including：
Centering sensor obtains the rail exterior feature data on the inside of rail, and visits the physical location of wheel；
Wear compensation computing unit calculates the rail head abrasion loss of the rail according to the rail exterior feature data on the inside of the rail,
Wear compensation amount is calculated by the abrasion loss, and centering a reference value is compensated according to wear compensation amount at least point third gear；
PID control unit, according to the centering a reference value through overcompensation that the wear compensation computing unit exports, Yi Jisuo
The physical location progress PID control for visiting wheel is stated, and exports centering controlling value.
Preferably, when the rail is worn away, the wear compensation computing unit is exported to the warp of PID control unit
The centering a reference value n of overcompensation1It is set as n0- m, wherein n0To be set on the rail of no abrasion to middle a reference value, m is mill
Consume compensation rate；
The controlling value of PID control unit output is：
Ei=Aei-Bei-1+Cei-2, ei=ni-n1
Wherein, EiFor i-th controlling value, eiThe position deviation of wheel, e are visited for i-thi-1The position that wheel is visited for (i-1)-th time is inclined
Difference, ei-2The position deviation of wheel is visited for the i-th -2 times, A, B, C are pid control parameter, niThe feedback of wheel physical location is visited for i-th
Value.
Preferably, the wear compensation computing unit determines the rail head of the rail by calculating rail head abrasion area S
Abrasion loss.The height x at rail head of rail end angle or more is defined, the practical rail of rail is wide in height x and marks for calculating
The area value surrounded between standard gauge exterior feature, and the area value is defined as abrasion area S.
Preferably, the wear compensation computing unit calculates the wear compensation amount m according to the following formula：
Wherein, a1For the first moderate wear compensation threshold value, b1Threshold value, m are compensated for the first severe dental attrition11For the first moderate mill
Consume compensation rate, m12For the first severe dental attrition compensation rate.
Preferably, the first moderate wear compensation threshold value a1Value range be set asFirst severe
Wear compensation threshold value b1Value range be set as
Preferably, the first moderate wear compensation amount m11Value range be set asFirst severe mill
Consume compensation rate m12Value range be set as
Preferably, the slope that the wear compensation computing unit passes through the practical profile line in rail head inside of the calculating rail
K determines the rail head abrasion loss of the rail.
Preferably, the wear compensation computing unit calculates the wear compensation amount m according to the following formula：
Wherein, a2For the second moderate wear compensation threshold value, b2Threshold value, m are compensated for the second severe dental attrition21For the second moderate mill
Consume compensation rate, m22For the second severe dental attrition compensation rate.
Preferably, the second moderate wear compensation threshold value a2Value range be set asSecond severe dental attrition is mended
Repay threshold value b2Value range be set as
Preferably, the second moderate wear compensation amount m21Value range be set asSecond severe mill
Consume compensation rate m22Value range be set as
By implementing the technical solution for the automatic centering control device with wear compensation that aforementioned present invention provides, have such as
Lower beneficial effect：
(1) the automatic centering control device of the invention with wear compensation carries out centering control amount by rail head abrasion loss
Compensation greatly optimizes the effect that rail examination visits wheel automatic centring device, can solve serious in sharp radius curve abrasion
The technical issues of bottom wave is lost on rail, to greatly improve carrying out flaw detection effect；
(2) the automatic centering control device of the invention with wear compensation is using rail head of rail side wearing valve to control benchmark
Segmented compensation is carried out, to solve to wear away on serious rail in rail head, in the normal situation of centralising device control deviation, still
It serious the technical issues of losing wave, is compensated by using fourth gear, wear compensation precision, speed, the synthesis of stabilization and reliability
Effect is best.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other embodiments are obtained according to these attached drawings.
Fig. 1 is ultrasonic rail flaw detection schematic illustration in the prior art；
Fig. 2 is the ultrasonic wave acoustic beam flaw detection conspectus of 0 ° of chip in the prior art；
Fig. 3 is the control principle block diagram of rail examination automatic centering system in the prior art；
Fig. 4 is the schematic illustration of rail wear in the prior art；
Fig. 5 is the schematic diagram of the section structure of rail wear in the prior art；
Fig. 6 is the schematic perspective view that centering sensor obtains rail rail exterior feature laser scanning data in the present invention；
Fig. 7 is the schematic diagram of the section structure that centering sensor obtains rail rail exterior feature laser scanning data in the present invention；
Fig. 8 is that the rail wear in automatic centering control device a kind of specific embodiment of the invention with wear compensation calculates
Diagrammatic cross-section；
Fig. 9 is the rail wear meter in the automatic centering control device another kind specific embodiment of the invention with wear compensation
Calculate diagrammatic cross-section；
Figure 10 is a kind of control principle block diagram of specific embodiment of the automatic centering control device of the invention with wear compensation；
Figure 11 is to calculate interface schematic diagram using the offset data of the automatic centering control device of the invention with wear compensation；
Figure 12 is the program flow diagram of the automatic centering control method with wear compensation based on apparatus of the present invention；
In figure：1- visits wheel, 2- ultrasound chip, 3- rail, 4-PID control unit, 5- centering control unit, 6- electric cylinders, 7-
Centering sensor, 8- vehicle mechanical device, 9- wear compensation computing unit, 10- automatic centering control device, 21-0 ° of chip.
Specific embodiment
For the sake of quoting and understanding, will hereafter used in technical term, write a Chinese character in simplified form or abridge and be described below：
PID：Proportion Integral Derivative, ratio, integral, differential abbreviation.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is only
It is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel all other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
As shown in attached drawing 6 to attached drawing 12, the automatic centering control device and method of the invention with wear compensation is given
Specific embodiment, the present invention will be further explained below with reference to the attached drawings and specific examples.
Embodiment 1
The technical solution of the present embodiment is to be analyzed by visiting wheel 1 to (ultrasonic wave) with the contact situation of rail 3, is studied
Rail head wears away influence to ultrasonic wave incidence, to propose a kind of to control benchmark to centering using rail head wearing valve and mended automatically
The control device repaid improves carrying out flaw detection effect to reduce bottom wave loss.
As shown in Fig. 10, a kind of embodiment of the automatic centering control device 10 of the invention with wear compensation is specific to wrap
It includes：
Centering sensor 7, obtains the rail exterior feature data of 3 inside of rail, and visits the physical location of wheel 1；
Wear compensation computing unit 9 calculates the rail head abrasion loss of rail 3 according to the rail exterior feature data of 3 inside of rail, by this
Abrasion loss calculates wear compensation amount, and is compensated according to wear compensation amount at least point third gear to centering a reference value；
PID control unit 4 according to the centering a reference value through overcompensation that wear compensation computing unit 9 exports, and visits wheel
1 physical location carries out PID control, and exports controlling value.
Automatic centering control system with wear compensation further comprises centering control unit 5, according to PID control unit 4
The controlling value of output is generated for controlling the driving control signal for visiting 1 movement of wheel.
It as shown in Fig. 5, is the schematic diagram of the section structure in rail cross section, wherein the dash area as shown in E is vertical
Abrasion, if F show rail head side, as G show rail head end angle.As seen in figs. 6 and 7, it is installed on vehicle mechanical device 8
Centering sensor 7 acquires the practical rail exterior feature data (as shown in C in attached drawing 6 and attached drawing 7) generated on the inside of laser irradiation rail 3, leads to
It crosses profile reconstruct and matching algorithm obtains the standard profile figure as shown in C1 and C2 in attached drawing 8, to further calculate rail head
Abrasion loss.
The abrasion of rail head can be decomposed into side grinding amount and vertical mill amount, by taking the rail of 60kg/m model as an example, rail 3 by direction
Abrasion with as shown in dash area in attached drawing 5 vertically based on abrasion, vertical abrasion not will lead to wheel rail relation generate it is longitudinal
Angle and to influence bottom wave incident, only when rail head side generates abrasion, bottom wave just can significantly be caused to be lost, therefore the present embodiment
Used in wearing valve and conventional algorithm it is different, the variation of main reflection rail head side grinding amount.
Wherein, the controlling value of PID control unit 4 output to centering control unit 5 is：
Ei=Aei-Bei-1+Cei-2, ei=ni-n1
Wherein, EiFor i-th controlling value, eiThe position deviation of wheel 1, e are visited for i-thi-1The position of wheel 1 is visited for (i-1)-th time
Deviation, ei-2The position deviation of wheel 1 is visited for the i-th -2 times, A, B, C are pid control parameter, ni1 physical location of wheel is visited for i-th
Value of feedback.
Centering sensor 7 generates the inside of laser rays irradiation rail 3, is formed real shown in heavy line C1 and C2 in attached drawing 8
Border rail exterior feature figure, and fine line profile D is corresponding standard gauge exterior feature figure.Wear compensation computing unit 9 is by calculating rail head mill
Area S is consumed to determine that the rail head abrasion loss of rail 3, result have specific correlation with bottom wave attenuation.Define 3 rail head of rail
Hold the height x (unit at angle or more：Mm), calculate and be located at the wide face surrounded between standard gauge exterior feature of the practical rail of height x interior rail 3
Product value, and the area value is defined as abrasion area S (unit：mm2), as shown in the shadow region in attached drawing 8.Wherein, the value of x
It is related with the rail type of rail 3, mainly reflect the side grinding degree of rail head, representative value is as follows：
The mapping table of table 1 x value and rail rail type
| Rail type | x(mm) |
| 43 | 11.5~21.5 |
| 50 | 14.4~24.4 |
| 60 | 23~33 |
| 75 | 25~35 |
If set on the rail 3 of no abrasion to middle a reference value as n0(unit：Mm), m is wear compensation amount, then works as steel
When rail 3 is worn away, wear compensation computing unit 9 is exported to the centering a reference value n through overcompensation of PID control unit 41Setting
For n0-m.Wherein, m (unit：Mm value) is determined according to the range of S, for the stability for keeping control, the range setting of S
For third gear or more.
When the range of S is set as third gear, wear compensation computing unit 9 calculates wear compensation amount m according to the following formula：
Wherein, a1For the first moderate wear compensation threshold value, b1Threshold value, m are compensated for the first severe dental attrition11For the first moderate mill
Consume compensation rate, m12For the first severe dental attrition compensation rate.
First moderate wear compensation threshold value a1It is set as 90mm2, a1Value range can be set to
First severe dental attrition compensates threshold value b1It is set as 150mm2, b1Value range can be set to
First moderate wear compensation amount m11It is set as 4mm, m11Value range can be set to
First severe dental attrition compensation rate m12It is set as 7mm, m12Value range can be set to
According to algorithm above, when rail 3, which exists, to be worn away, according to abrasion size, centering control device can adjust automatically pair
Middle benchmark reduces the loss of bottom wave.And when not wearing away, then it is still adjusted, avoids artificial by the benchmark originally set
The control imbalance of system caused by Iterim Change benchmark.The present embodiment characterizes wear intensity by area-method using a kind of
Technical solution, and further control amount is compensated by wearing away, reduce bottom wave loss by compensating automatically.Meanwhile
The present embodiment has analysed in depth rail head from the angle of physics for the first time and has worn away influence to ultrasonic wave incidence, incorporation engineering application,
By live repetition test, segmented compensation is carried out to control benchmark using rail head of rail side wearing valve, to solve in rail head
It wears away on serious rail, in the normal situation of centralising device control deviation, still serious the problem of losing wave, greatly optimizes steel
The effect of wheel automatic centring device is visited in rail flaw detection, be can solve to wear away in sharp radius curve and is lost asking for bottom wave on serious rail
Topic has very strong practicability and necessity for the rail examination of railway systems.
Embodiment 2
As described in Example 1, when S is compensated using third gear, so that it may to a certain extent realize wear compensation from
And realize the object of the invention, slight wear compensation, but this can be cancelled on the basis of the present embodiment fourth gear compensates in the case
Sample will lead to the delay of wear compensation mechanism intervention time, may result in some slight mistake wave situations.And when S use fourth gear with
When upper, since compensation threshold value increases, and benchmark variation may cause frequently, consequently, it is possible to generating to the stability of control certain
The influence of degree.Therefore in practical situations, S use fourth gear when compensation effect it is best, combine wear compensation high-precision,
At high speed, high stable and reliability.
Below to the technology of the present embodiment by taking compensation speed, the optimal fourth gear compensation of precision and stability comprehensive performance as an example
Scheme is introduced.
On the basis of embodiment 1, when the range of S is set as fourth gear, wear compensation computing unit 9 is according to the following formula
Calculate wear compensation amount m：
Wherein, a1For the first slight wear compensation threshold value, b1For the first moderate wear compensation threshold value, c1For the first severe mill
Consumption compensation threshold value, m11For the first slight wear compensation amount, m12For the first moderate wear compensation amount, m13For the first severe dental attrition benefit
The amount of repaying.
First slight wear compensation threshold value a1It is set as 70mm2, a1Value range can be set to
First moderate wear compensation threshold value b1It is set as 100mm2, b1Value range can be set to
First severe dental attrition compensates threshold value c1It is set as 150mm2, c1Value range can be set to
First slight wear compensation amount m11It is set as 3mm, m11Value range can be set to
First moderate wear compensation amount m12It is set as 5mm, m12Value range can be set to
First severe dental attrition compensation rate m13It is set as 7mm, m13Value range can be set to
The practical application effect for illustrating the present embodiment technical solution for shown in attached drawing 11, the curve for being 400 in radius
On, the abrasion on 3 right side of rail reach 102.5mm2, belong to moderate abrasion, former base standard is 253mm (as shown in H in figure), control dress
It sets and 5.5mm is compensated to benchmark automatically, so that motor is reached new position 247.5mm, from the point of view of actual carrying out flaw detection data, completely
There is not the disappearance alarm of bottom wave, design requirement is fully achieved in compensation function.
Embodiment 3
About the calculating of rail head abrasion, using area computation method, this is to be suitble to figure for embodiment 1 and embodiment 2
Change a kind of method that rail exterior feature calculates.Other calculation methods also may be implemented, if the present embodiment is using the oblique of calculating rail head profile line
Rate.
As shown in Fig. 9, wear compensation computing unit 9 passes through the oblique of the practical profile line C1 in rail head inside for calculating rail 3
Rate k determines the rail head abrasion loss of rail 3.According to rail head Slope Method, if set on the rail 3 of no abrasion to middle benchmark as
n0(unit：Mm), then when there is abrasion pair in benchmark be set as n0- m, wherein m (unit：Mm value) is determined according to the range of k
Fixed, for the stability for keeping control, the range of k is set as third gear or more.
When the range of k is set as third gear, wear compensation computing unit 9 calculates wear compensation amount m according to the following formula：
Wherein, a2For the second moderate wear compensation threshold value, b2Threshold value, m are compensated for the second severe dental attrition21For the second moderate mill
Consume compensation rate, m22For the second severe dental attrition compensation rate.
Second moderate wear compensation threshold value a2It is set as 1.7, a2Value range can be set to
Second severe dental attrition compensates threshold value b2It is set as 0.9, b2Value range can be set to
Second moderate wear compensation amount m21It is set as 4mm, m21Value range can be set to
Second severe dental attrition compensation rate m22It is set as 6mm, m22Value range can be set to
Remaining technical solution in the present embodiment can be referring in particular to the associated description in embodiment 1, and details are not described herein.
Embodiment 4
The segmented compensation technical side of automatic centering control device of the embodiment 3 by taking third gear as an example to the present invention with wear compensation
Case is described, and the present embodiment is introduced by taking the optimal fourth gear compensation of resultant effect as an example.
When the range of k is set as fourth gear, wear compensation computing unit 9 calculates wear compensation amount m according to the following formula：
Wherein, a2For the second slight wear compensation threshold value, b2For the second moderate wear compensation threshold value, c2For the second severe mill
Consumption compensation threshold value, m21For the second slight wear compensation amount, m22For the second moderate wear compensation amount, m23For the second severe dental attrition benefit
The amount of repaying.
Second slight wear compensation threshold value a2It is set as 5, a2Value range can be set to
Second moderate wear compensation threshold value b2It is set as 1.6, b2Value range can be set to
Second severe dental attrition compensates threshold value c2It is set as 0.9, c2Value range can be set to
Second slight wear compensation amount m21It is set as 3mm, m21Value range can be set to
Second moderate wear compensation amount m22It is set as 5mm, m22Value range can be set to
Second severe dental attrition compensation rate m23It is set as 7mm, m23Value range can be set to
Remaining technical solution in the present embodiment can be referring in particular to the associated description in embodiment 2, and details are not described herein.
It is other to be set in the method for Efficient Characterization rail head of rail wear intensity according to its numerical value other than upper area-method and Slope Method
Corresponding compensation threshold value and offset are set, the control parameter that also can be used as in the embodiment of the present invention uses.
Embodiment 5
As shown in Fig. 12, a kind of reality of the automatic centering control method based on 2 described device of embodiment with wear compensation
Example is applied, following steps are specifically included：
S10 the rail exterior feature data of 3 inside of rail) are obtained, and visit the physical location of wheel 1；
S20 the rail head abrasion loss that rail 3) is calculated according to the rail exterior feature data of 3 inside of rail, is calculated by the abrasion loss and is worn away
Compensation rate, and centering a reference value is compensated according to wear compensation amount at least point third gear；
S30) according to the centering a reference value through overcompensation, and the physical location progress PID control of wheel 1 is visited, and export control
Value processed；
S40 it) is generated according to the controlling value of output for controlling the driving control signal for visiting 1 movement of wheel.
In step S30), when rail 3 is worn away, the centering a reference value n through overcompensation1It is set as n0- m, wherein
n0To be set on the rail 3 of no abrasion to middle a reference value, m is wear compensation amount.The controlling value exported after PID control
For：
Ei=Aei-Bei-1+Cei-2, ei=ni-n1
Wherein, EiFor i-th controlling value, eiThe position deviation of wheel 1, e are visited for i-thi-1The position of wheel 1 is visited for (i-1)-th time
Deviation, ei-2The position deviation of wheel 1 is visited for the i-th -2 times, A, B, C are pid control parameter, ni1 physical location of wheel is visited for i-th
Value of feedback.
In step S20), the rail head abrasion loss of rail 3 is determined by calculating rail head abrasion area S.Define 3 rail of rail
Height x more than head end angle is calculated and is located at the wide area value surrounded between standard gauge exterior feature of the practical rail of height x interior rail 3, and
The area value is defined as abrasion area S.
In step S20), wear compensation amount m is calculated according to the following formula：
Wherein, a1For the first slight wear compensation threshold value, b1For the first moderate wear compensation threshold value, c1For the first severe mill
Consumption compensation threshold value, m11For the first slight wear compensation amount, m12For the first moderate wear compensation amount, m13For the first severe dental attrition benefit
The amount of repaying.
By the first slight wear compensation threshold value a1It is set as 70mm2, a1Value range can be set to
By the first moderate wear compensation threshold value b1It is set as 100mm2, b1Value range can be set to
First severe dental attrition is compensated into threshold value c1It is set as 150mm2, c1Value range can be set to
By the first slight wear compensation amount m11It is set as 3mm, m11Value range can be set to
By the first moderate wear compensation amount m12It is set as 5mm, m12Value range can be set to
By the first severe dental attrition compensation rate m13It is set as 7mm, m13Value range can be set to
The technology of the present embodiment is referred to the automatic centering control method of wear compensation based on 1 described device of embodiment
Scheme is implemented.
Embodiment 6
A kind of embodiment of the automatic centering control method based on 4 described device of embodiment with wear compensation, in embodiment 5
On the basis of, in step S20), the rail of rail 3 is determined by the slope k of the practical profile line in rail head inside of calculating rail 3
Head abrasion loss.
In step S20), wear compensation amount m is calculated according to the following formula：
Wherein, a2For the second slight wear compensation threshold value, b2For the second moderate wear compensation threshold value, c2For the second severe mill
Consumption compensation threshold value, m21For the second slight wear compensation amount, m22For the second moderate wear compensation amount, m23For the second severe dental attrition benefit
The amount of repaying.
By the second slight wear compensation threshold value a2It is set as 5, a2Value range can be set to
By the second moderate wear compensation threshold value b2It is set as 1.6, b2Value range can be set to
Second severe dental attrition is compensated into threshold value c2It is set as 0.9, c2Value range can be set to
By the second slight wear compensation amount m21It is set as 3mm, m21Value range can be set to
By the second moderate wear compensation amount m22It is set as 5mm, m22Value range can be set to
By the second severe dental attrition compensation rate m23It is set as 7mm, m23Value range can be set to
The technology of the present embodiment is referred to the automatic centering control method of wear compensation based on 3 described device of embodiment
Scheme is implemented.
By implementing the technical solution of the automatic centering control device with wear compensation of specific embodiment of the invention description,
It can have the following technical effects：
(1) specific embodiment of the invention description the automatic centering control device with wear compensation by rail head abrasion loss come
Centering control amount is compensated, the effect that rail examination visits wheel automatic centring device is greatly optimized, can solve in smaller part
Diametal curve wears away the technical issues of bottom wave is lost on serious rail, to greatly improve carrying out flaw detection effect；
(2) the automatic centering control device with wear compensation of specific embodiment of the invention description utilizes rail head of rail side
Wearing valve carries out segmented compensation to control benchmark, to solve to wear away on serious rail in rail head, centralising device control deviation
In normal situation, the technical issues of still seriously losing wave, compensated by using fourth gear, it is wear compensation precision, speed, steady
Fixed and reliability resultant effect is best.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though
So the present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art
Member, in the case where not departing from Spirit Essence of the invention and technical solution, all using in the methods and techniques of the disclosure above
Appearance makes many possible changes and modifications or equivalent example modified to equivalent change to technical solution of the present invention.Therefore,
Anything that does not depart from the technical scheme of the invention are made to the above embodiment any simple according to the technical essence of the invention
Modification, equivalent replacement, equivalence changes and modification still fall within the range of technical solution of the present invention protection.
Claims (10)
1. a kind of automatic centering control device with wear compensation, which is characterized in that including：
Centering sensor (7) obtains the rail exterior feature data on the inside of rail (3), and visits the physical location of wheel (1)；
Wear compensation computing unit (9) is ground according to the rail head that the rail exterior feature data on the inside of the rail (3) calculate the rail (3)
Consumption calculates wear compensation amount by the abrasion loss, and is mended according to wear compensation amount at least point third gear to centering a reference value
It repays；
PID control unit (4), according to the centering a reference value through overcompensation that the wear compensation computing unit (9) exports, and
The physical location for visiting wheel (1) carries out PID control, and exports centering controlling value.
2. the automatic centering control device with wear compensation according to claim 1, it is characterised in that：
When the rail (3) is worn away, the process of wear compensation computing unit (9) output to PID control unit (4)
The centering a reference value n of compensation1It is set as n0- m, wherein n0For the centering a reference value set on the rail of no abrasion (3), m is
Wear compensation amount；
The controlling value of the PID control unit (4) output is：
Ei=Aei-Bei-1+Cei-2, ei=ni-n1
Wherein, EiFor i-th controlling value, eiThe position deviation of wheel (1), e are visited for i-thi-1The position of wheel (1) is visited for (i-1)-th time
Deviation, ei-2The position deviation of wheel (1) is visited for the i-th -2 times, A, B, C are pid control parameter, niWheel (1) actual bit is visited for i-th
The value of feedback set.
3. the automatic centering control device with wear compensation according to claim 2, it is characterised in that：The wear compensation meter
Unit (9) are calculated by calculating rail head abrasion area S to determine the rail head abrasion loss of the rail (3)；Define the rail (3) rail
Height x more than head end angle is calculated and is located at the wide face surrounded between standard gauge exterior feature of the practical rail of rail (3) in height x
Product value, and the area value is defined as abrasion area S.
4. the automatic centering control device with wear compensation according to claim 3, which is characterized in that the wear compensation meter
It calculates unit (9) and calculates the wear compensation amount m according to the following formula：
Wherein, a1For the first moderate wear compensation threshold value, b1Threshold value, m are compensated for the first severe dental attrition11It wears away and mends for the first moderate
The amount of repaying, m12For the first severe dental attrition compensation rate.
5. the automatic centering control device with wear compensation according to claim 4, it is characterised in that：
First moderate wear compensation threshold value a1Value range be set as
First severe dental attrition compensates threshold value b1Value range be set as
6. the automatic centering control device with wear compensation according to claim 5, it is characterised in that：
First moderate wear compensation amount m11Value range be set as
First severe dental attrition compensation rate m12Value range be set as
7. the automatic centering control device with wear compensation according to claim 2, it is characterised in that：The wear compensation meter
The slope k of practical profile line on the inside of the rail head of unit (9) by calculating the rail (3) is calculated to determine the rail of the rail (3)
Head abrasion loss.
8. the automatic centering control device with wear compensation according to claim 7, which is characterized in that the wear compensation meter
It calculates unit (9) and calculates the wear compensation amount m according to the following formula：
Wherein, a2For the second moderate wear compensation threshold value, b2Threshold value, m are compensated for the second severe dental attrition21It wears away and mends for the second moderate
The amount of repaying, m22For the second severe dental attrition compensation rate.
9. the automatic centering control device with wear compensation according to claim 8, it is characterised in that：
Second moderate wear compensation threshold value a2Value range be set as
Second severe dental attrition compensates threshold value b2Value range be set as
10. the automatic centering control device with wear compensation according to claim 9, it is characterised in that：
Second moderate wear compensation amount m21Value range be set as
Second severe dental attrition compensation rate m22Value range be set as
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