CN110567736B - Bogie uniform load testing method and device - Google Patents

Bogie uniform load testing method and device Download PDF

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CN110567736B
CN110567736B CN201910869546.3A CN201910869546A CN110567736B CN 110567736 B CN110567736 B CN 110567736B CN 201910869546 A CN201910869546 A CN 201910869546A CN 110567736 B CN110567736 B CN 110567736B
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strain test
value
voltage
bogie
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CN110567736A (en
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郭桉扬
彭奇彪
佟来生
罗华军
李晓春
高锋
吴志会
胡伟
郑文文
侯磊
罗心彤
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CRRC Zhuzhou Locomotive Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/08—Railway vehicles

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Abstract

A bogie uniform load test method comprises the following steps: step 1: before a vehicle body falls off, arranging 4 strain test points on the upper surface of a side beam of a bogie frame, wherein the strain test points are respectively symmetrical about a longitudinal center line and a transverse center line of the bogie frame, and collecting a voltage value of each strain test point after the vehicle body falls off; step 2: calculating a round voltage difference value of each strain test point according to the voltage value of each strain test point, and if the absolute value of each round voltage difference value is not greater than a threshold value, outputting a load balancing instruction and ending the test; otherwise, outputting the uneven load instruction. According to the invention, whether the bogie frame is uniformly loaded or not can be judged by detecting the voltage value of the strain test point, a weighing experiment table is not needed, and the efficiency is improved.

Description

Bogie uniform load testing method and device
Technical Field
The invention belongs to the field of mechanical equipment detection, and particularly relates to a method and a device for testing uniform load of a bogie.
Background
With the requirement of accelerating the speed of the railway vehicle, the safety state of the bogie has great significance on the driving safety. The load uniformity of the bogie is a crucial problem, and the uneven weight of the bogie can cause uneven traction distribution when a vehicle runs, and the driving safety is seriously influenced; the uneven load of the bogie can also lead to inconsistent wheel wear, lead to serious wheel wear on one side with heavier weight, and the service life of the wheel is not fully utilized, thereby not only influencing the driving safety, but also influencing the vehicle maintenance period and the like, and having no economical efficiency.
At present, after a locomotive vehicle, a subway vehicle and the like fall off from a vehicle body, a common method for judging whether a bogie is uniformly loaded is to fix the vehicle at a weighing test bed position by using a weighing platform weighing method and measure weight data borne by each wheel by using a weighing sensor, which is troublesome, time-consuming and labor-consuming; meanwhile, when the load is not uniform, the main method adopted in the spring adjusting process is to increase an adjusting sheet according to weight data by using manual experience, adjust by changing the height of the air spring and re-weigh the vehicle again until the load-uniform requirement is met, so that the method has very low efficiency and low accuracy; because the manual experience is mainly relied on, the debugging of skilled technicians is also needed, and the labor cost is high.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects are overcome, and the uniform load test method and the uniform load test device for the bogie can be used for completing the uniform load test of the bogie without a weighing test bed.
The technical scheme adopted by the invention is as follows: a bogie uniform load test method comprises the following steps: step 1: before a vehicle body falls off, arranging 4 strain test points on the upper surface of a side beam of a bogie frame, wherein the strain test points are respectively symmetrical about a longitudinal center line and a transverse center line of the bogie frame, and collecting a voltage value of each strain test point after the vehicle body falls off; step 2: calculating a round voltage difference value of each strain test point according to the voltage value of each strain test point, and if the absolute value of each round voltage difference value is not greater than a threshold value, outputting a load balancing instruction and ending the test; otherwise, outputting the uneven load instruction.
In the above scheme, whether the bogie frame is uniformly loaded or not can be judged by detecting the voltage value of the strain test point, and the efficiency is improved without a weighing experiment table.
Preferably, the method further comprises the step 3: and when the uneven load instruction is output, adjusting the height of a series of suspension springs corresponding to the strain test points, and then repeating the step 1 and the step 2.
Preferably, the calculation formula of the wheel voltage difference value is as follows: JRLj＝(RLj-RM)/RM (%), j ═ 1,2,3, 4; wherein RM is the voltage mean value of all the strain test points; RLjRepresenting the voltage value of the strain test point at the j-th point, JRLjThe wheel voltage difference for the strain test point.
Preferably, the calculation formula of the adjustment height of the primary suspension spring is as follows:
Figure BDA0002200731130000011
and
Figure BDA0002200731130000012
calculating the optimal solution of minR, wherein delta RLjWhen a series of suspension springs at the ith point are adjusted, the voltage value of the strain test point at the jth point changes; RLjAdjusted voltage value for the ith suspension spring, RLj' is the voltage value before adjustment of the series of suspension springs at the ith point, delta hiFor adjusting the height of the ith point, kijAnd (4) a rigidity matrix for the influence of the adjustment of the ith point on the voltage value of the strain test point of the ith point.
The invention also provides another bogie uniform load testing method, which comprises the following steps: step 1: before a vehicle body falls, arranging 4 strain test points on the upper surface of a side beam of a frame of a first bogie of the vehicle body, wherein the strain test points are respectively symmetrical about a longitudinal center line and a transverse center line of the bogie frame; arranging 4 strain test points at the same positions as the first bogie on a second bogie of the vehicle body; collecting the voltage value of each strain test point after the vehicle body falls off; step 2: calculating a wheel voltage difference value of each strain test point and a shaft voltage difference value of two strain test points on each side beam according to the voltage values of the strain test points, and if the absolute values of the wheel voltage difference value and the shaft voltage difference value are not greater than a threshold value, outputting a load balancing instruction and finishing the test; otherwise, outputting the uneven load instruction.
Preferably, the method further comprises the step 3: and when the uneven load instruction is output, adjusting the height of the primary suspension spring or the secondary air spring corresponding to the strain test point, and then repeating the step 1 and the step 2.
Preferably, the calculation formula of the wheel voltage difference value is as follows: JRLj＝(RLj-RM)/RM (%), j ═ 1, 2.., 8; wherein RM is the voltage mean value of all the strain test points; RLjVoltage value representing strain test point at j point, JRLjThe wheel voltage difference value of the strain test point is obtained; the shaft voltage difference value is calculated by the formula
Figure BDA0002200731130000025
Wherein XSaThe shaft voltage sum value of two strain test points on the a side beam is obtained; RG is the sum of the voltage values of all strain test points, XDAaIs the shaft voltage difference of two strain test points on the a-side beam.
Preferably, the calculation formula of the adjustment height of the primary suspension spring is as follows:
Figure BDA0002200731130000022
and calculating the optimal solution of minR, wherein delta RLjWhen a series of suspension springs at the ith point are adjusted, the voltage value of the strain test point at the jth point changes; RLjThe voltage value RL of the strain test point of the j point after the adjustment of the ith suspension springj' adjusting the voltage value of the strain test point at the j point before the adjustment of the series of suspension springs at the i point, delta hiFor adjusting the height of the ith point, kijA stiffness matrix for the influence of the ith point on the voltage value of the jth point strain test point during the adjustment; the calculation formula of the height adjustment of the secondary air spring is as follows:
Figure BDA0002200731130000023
and
Figure BDA0002200731130000024
calculating the optimal solution of minG, wherein delta XS is adoptedaInfluence of the adjusted secondary air spring on the sum of the axle voltages of the two strain test points on the a-side beam, XSaFor adjusting the sum of rear axle voltages，XSa' to adjust the sum of front axle voltages,. DELTA.haHeight, k, adjusted for point bbaAnd (3) influencing the shaft voltage sum value of two strain test points on the a side beam when the b point is adjusted to be the b point.
The invention also provides a bogie uniform load testing device, which comprises 4 strain gauges and a data processing module, wherein before the train falls off, the strain gauges are arranged on the upper surface of the side beam of the bogie frame and are respectively symmetrical about the longitudinal center line and the transverse center line of the bogie frame, and after the train falls off, each strain gauge is connected to the input end of the data processing module; the data processing module is used for collecting the voltage value of each strain gauge and calculating the wheel voltage difference value of each strain gauge.
Preferably, the data processing module comprises an acquisition system, a judgment module and a calculation module; the collecting system is used for collecting the voltage value of each strain gauge, the judging module calculates the wheel voltage difference value of each strain gauge, and the calculating module calculates the height of a series of suspension springs needing to be adjusted.
The invention also provides a bogie uniform load testing device, which comprises 8 strain gauges and a data processing module; before the train falls off, the 8 strain gauges are respectively arranged on the upper surfaces of the side beams of the two bogie frames and are respectively symmetrical about the longitudinal center line and the transverse center line of the two bogie frames, and after the train falls off, each strain gauge is connected to the input end of the data processing module;
the data processing module is used for collecting the voltage value of each strain gauge, calculating the wheel voltage difference value of each strain gauge and the shaft voltage difference value of the two strain gauges on each side beam.
Preferably, the data processing module comprises an acquisition system, a judgment module and a calculation module, wherein the acquisition system is used for acquiring the voltage value of each strain gauge; the judgment module is used for calculating a wheel voltage difference value of each strain gauge and a shaft voltage difference value of two strain gauges on each side beam, and the calculation module calculates the height of a primary suspension spring or a secondary air spring which needs to be adjusted.
The invention has the beneficial effects that: the weight is measured based on the principle that the bogie frame deforms after the bogie body falls off without a weighing test bed, so that whether the bogie is evenly loaded or not is accurately judged; and the height of the spring of the bogie can be accurately adjusted according to the measured voltage, manual repeated debugging is not needed, the measurement efficiency is improved, and the time and the cost are saved.
Drawings
FIG. 1 is a flow chart of a truck load sharing test method according to an embodiment;
FIG. 2 is a flowchart of a truck equal load test method according to a second embodiment;
FIG. 3 is a schematic view of a test apparatus for load balancing of three trucks according to an embodiment;
FIG. 4 is a schematic view of a four-truck equal load test apparatus according to an embodiment;
in the figure: 1. the device comprises a strain gauge 2, an acquisition system 3, a judgment module 4, a calculation module 5 and a bogie framework.
Detailed Description
The invention is further illustrated by the following examples and figures.
Example one
As shown in fig. 1, a method for detecting a uniform load of a bogie includes:
step 1: 4 strain test points are symmetrically arranged on the upper surface of a side beam of a bogie frame before the bogie falls off by using a transverse central line and a longitudinal central line of the frame, and after the bogie falls off, the frame deforms, so that each strain test point deforms, and the voltage value output by each strain test point is acquired;
step 2: calculating a round voltage difference value of each strain test point according to the voltage value of each strain test point, and if the absolute value of each round voltage difference value is not greater than a preset threshold, outputting a load balancing instruction and finishing the test; otherwise, outputting the uneven load instruction.
The threshold is error percentage, which is determined according to the load-balancing requirement, and the threshold is low when the precision requirement is high.
Wherein the calculation formula of the wheel voltage difference value is as follows: JRLj＝(RLj-RM) YRM (%), j ═ 1,2,3, 4; wherein RM is the voltage mean value of all the strain test points;RLjrepresenting the voltage value of the strain test point at the j-th point, JRLjThe wheel voltage difference value of the strain test point is obtained;
in this embodiment, the method further includes step 3: and when the uneven load instruction is output, adjusting the height of a series of suspension springs corresponding to the strain test points, and then repeating the step 1 and the step 2.
The calculation formula of the height adjustment of the primary suspension spring is as follows:
Figure BDA0002200731130000044
and
Figure BDA0002200731130000042
calculating the optimal solution of minR, wherein delta RLjWhen a series of suspension springs at the ith point are adjusted, the voltage value of the strain test point at the jth point changes; RLjAdjusted voltage value for the ith suspension spring, RLj' is the voltage value before adjustment of the series of suspension springs at the ith point, delta hiFor adjusting the height of the ith point, kijAnd (4) a rigidity matrix for the influence of the ith point on the voltage value of the jth point strain test point during the adjustment.
Wherein Δ hiCan be realized by increasing or decreasing the gasket, kiiIs a stiffness matrix.
The detection method is suitable for the condition that only one bogie is arranged on one vehicle body.
Example two
The invention also provides a bogie uniform load detection method, which comprises the following steps:
step 1: before a vehicle body falls, arranging 4 strain test points on the upper surface of a side beam of a frame of a first bogie of the vehicle body, wherein the strain test points are respectively symmetrical about a longitudinal center line and a transverse center line of the bogie frame; arranging 4 strain test points at the same positions as the first bogie on a second bogie of the vehicle body; collecting the voltage value of each strain test point after the vehicle body falls off;
step 2: calculating a wheel voltage difference value of each strain test point and a shaft voltage difference value of two strain test points on each side beam according to the voltage values of the strain test points, and if the absolute values of the wheel voltage difference value and the shaft voltage difference value are not greater than a threshold value, outputting a load balancing instruction and finishing the test; otherwise, outputting the uneven load instruction.
The threshold is error percentage, which is determined according to the load-balancing requirement, and the threshold is low when the precision requirement is high.
Wherein the calculation formula of the wheel voltage difference value is as follows: JRLj＝(RLj-RM)/RM (%), j ═ 1, 2.., 8; wherein RM is the voltage mean value of all the strain test points; RLjVoltage value representing strain test point at j point, JRLjThe wheel voltage difference value of the strain test point is obtained; the shaft voltage difference value is calculated by the formula
Figure BDA0002200731130000045
Wherein XSaThe shaft voltage sum value of two strain test points on the a side beam is obtained; RG is the sum of the voltage values of all strain test points, XDAaIs the shaft voltage difference of two strain test points on the a-side beam.
In the second embodiment, the method further comprises the step 3: and when the uneven load instruction is output, adjusting the height of the primary suspension spring or the secondary air spring corresponding to the strain test point, and then repeating the step 1 and the step 2.
The calculation formula of the height adjustment of the primary suspension spring is as follows:
Figure BDA0002200731130000054
and calculating the optimal solution of minR, wherein delta RLjWhen a series of suspension springs at the ith point are adjusted, the voltage value of the strain test point at the jth point changes; RLjAdjusted voltage value for the ith suspension spring, RLj' is the voltage value before adjustment of the series of suspension springs at the ith point, delta hiFor adjusting the height of the ith point, kijA stiffness matrix for the influence of the ith point on the voltage value of the jth point strain test point during the adjustment; the calculation formula of the height adjustment of the secondary air spring is as follows:
Figure BDA0002200731130000052
and
Figure BDA0002200731130000053
calculating the optimal solution of minG, wherein delta XS is adoptedaInfluence of the adjusted secondary air spring on the sum of the axle voltages of the two strain test points on the a-side beam, XSaTo adjust the rear axle voltage and value, XSa' to adjust the sum of front axle voltages,. DELTA.haHeight, k, adjusted for point bbaAnd (3) influencing the shaft voltage sum value of two strain test points on the a side beam when the b point is adjusted to be the b point.
Wherein Δ hi、ΔhbCan be realized by increasing or decreasing the gasket, kij、kbaThe influence stiffness matrixes of the voltage values of the strain test points when the primary suspension spring and the secondary air spring are adjusted are respectively.
The detection method is suitable for the condition that one car body has two bogies, and each bogie is a two-side beam.
In the first and second embodiments, it is preferable that each of the strain test points is located on an upper surface of the frame corresponding to the wheel on the side member, the strain gauges are placed on the strain test points, each of the strain gauges forms a wheatstone bridge with three known resistors, and a voltage value of each of the strain test points is collected by measuring an output voltage value of the wheatstone bridge.
EXAMPLE III
As shown in figure 3, based on a car body and a bogie, the invention also provides a bogie load sharing test device which comprises 4 strain gauges and a data processing module, wherein before a train falls off, the 4 strain gauges are arranged on the upper surface of a side beam of a bogie frame and are respectively symmetrical about the longitudinal center line and the transverse center line of the bogie frame, and after the train falls off, each strain gauge is connected to the input end of the data processing module.
The data processing module comprises an acquisition system 2, a judgment module 3 and a calculation module 4, wherein the acquisition system 2 is used for acquiring the voltage value of the strain gauge 1; the judgment module 3 calculates a round voltage difference value of each strain gauge according to the voltage value of the strain gauge, if the absolute value of each round voltage difference value is not greater than the preset threshold value in the judgment module, the judgment module 3 outputs a load balancing instruction, and the test is finished; otherwise, the judging module outputs an uneven load instruction; when the judging module outputs an uneven load instruction, the calculating module calculates the height of a series of suspension springs needing to be adjusted; the judging module judges in real time when the height of the spring is adjusted until the judging module outputs a load balancing instruction, and the test is finished.
The method in which the wheel voltage difference and the height of a train of suspension springs are calculated is the same as in the first embodiment.
Example four
As shown in fig. 4, a bogie load balancing test device based on two bogies of a vehicle body comprises 8 strain gauges and a data processing module; before the train falls, the 8 strain gauges are respectively arranged on the upper surfaces of the side beams of the two bogie frames and are respectively symmetrical about the longitudinal center line and the transverse center line of the two bogie frames, and after the train falls, each strain gauge is connected to the input end of the data processing module.
The data processing module comprises an acquisition system 2, a judgment module 3 and a calculation module 4, wherein the acquisition system 2 is used for acquiring the voltage value of the strain gauge 1; the judgment module 3 calculates a wheel voltage difference value of each strain gauge and a shaft voltage difference value of two strain gauges on each side beam according to the voltage value of the strain gauge, if the absolute value of each wheel voltage difference value and the absolute value of each shaft voltage difference value are not larger than a preset threshold value in the judgment module, the judgment module 3 outputs a load balancing instruction, and the test is finished; otherwise, the judging module outputs an uneven load instruction; when the judging module outputs an uneven load instruction, the calculating module calculates the height of a primary suspension spring or a secondary air spring which needs to be adjusted; the judging module judges in real time when the height of the spring is adjusted until the judging module outputs a load balancing instruction, and the test is finished.
The method for calculating the wheel and axle voltage difference and the heights of the primary suspension spring and the secondary air spring is the same as that in the second embodiment.
The load sharing in the present invention is defined as: after the bogie falls on the bogie, the front, back, left and right bearing of the bogie is possibly uneven due to process or installation errors, and the uniform load definition means that the front, back, left and right bearing of the bogie is even at the moment when adjustment is needed; the wheel voltage difference is defined as: the deviation relative value of the voltage value of a single strain test point/strain gauge relative to the voltage mean value of all the strain test points/strain gauges; the axis voltage difference is defined as: the voltage sum of the strain test points/strain gages on a single side beam is offset relative to the voltage average of the strain test points/strain gages on all side beams.

Claims (2)

1. A bogie uniform load test method is characterized by comprising the following steps:
step 1: before a vehicle body falls off, arranging 4 strain test points on the upper surface of a side beam of a bogie frame, wherein the strain test points are respectively symmetrical about a longitudinal center line and a transverse center line of the bogie frame, and collecting a voltage value of each strain test point after the vehicle body falls off;
step 2: calculating a round voltage difference value of each strain test point according to the voltage value of each strain test point, and if the absolute value of each round voltage difference value is not greater than a threshold value, outputting a load balancing instruction and ending the test; otherwise, outputting an uneven load instruction;
further comprising the step 3: when an uneven load instruction is output, adjusting the height of a series of suspension springs corresponding to the strain test points, and then repeating the step 1 and the step 2;
the calculation formula of the wheel voltage difference value is as follows: JRLj＝(RLj-RM)/RM (%), j ═ 1,2,3, 4; wherein RM is the voltage mean value of all the strain test points; RLjRepresenting the voltage value of the strain test point at the j-th point, JRLjThe wheel voltage difference value of the strain test point is obtained;
the calculation formula of the height adjustment of the suspension spring is as follows:
Figure FDA0003013126900000011
and
Figure FDA0003013126900000012
calculating the optimal solution of minR, wherein delta RLjWhen a series of suspension springs at the ith point are adjusted, the voltage value of the strain test point at the jth point changes; RLj' is a series of point iVoltage value, Δ h, before adjustment of the suspension springiFor adjusting the height of the ith point, kijAnd (4) a rigidity matrix for the influence of the ith point on the voltage value of the jth point strain test point during the adjustment.
2. A bogie uniform load test method is characterized by comprising the following steps:
step 1: before a vehicle body falls, arranging 4 strain test points on the surface of a side beam on a frame of a first bogie of the vehicle body, wherein the strain test points are respectively symmetrical about a longitudinal center line and a transverse center line of the bogie frame; arranging 4 strain test points at the same positions as the first bogie on a second bogie of the vehicle body; collecting the voltage value of each strain test point after the vehicle body falls off;
step 2: calculating a wheel voltage difference value of each strain test point and a shaft voltage difference value of two strain test points on each side beam according to the voltage values of the strain test points, and if the absolute values of the wheel voltage difference value and the shaft voltage difference value are not greater than a threshold value, outputting a load balancing instruction and finishing the test; otherwise, outputting an uneven load instruction;
further comprising the step 3: when the uneven load instruction is output, adjusting the height of a primary suspension spring or a secondary air spring corresponding to the strain test point, and then repeating the step 1 and the step 2;
the calculation formula of the wheel voltage difference value is as follows: JRLj＝(RLj-RM)/RM (%), j ═ 1, 2.., 8; wherein RM is the voltage mean value of all the strain test points; RLjRepresenting the voltage value of the strain test point at the j-th point, JRLjThe wheel voltage difference value of the strain test point is obtained; the shaft voltage difference value is calculated by the formula
Figure FDA0003013126900000021
a is 1,2,3, 4; wherein XSaThe voltage sum value of two strain test points on the a side beam of the bogie is shown; RG is the sum of the voltage values of all strain test points, XDAaThe axial voltage difference of two strain test points on the a side beam is obtained;
the calculation formula of the height adjustment of the suspension spring is as follows:
Figure FDA0003013126900000022
Figure FDA0003013126900000023
and calculating the optimal solution of minR, wherein delta RLjWhen a series of suspension springs at the ith point are adjusted, the voltage value of the strain test point at the jth point changes; RLj' adjustment of the voltage value of the j point before the adjustment of the series of suspension springs of the i point, DeltahiFor adjusting the height of the ith point, kijA stiffness matrix for the influence of the ith point on the voltage value of the jth point strain test point during the adjustment; the calculation formula of the height adjustment of the secondary air spring is as follows:
Figure FDA0003013126900000024
and
Figure FDA0003013126900000025
calculating the optimal solution of minG, wherein delta XS is adoptedaInfluence of the adjusted secondary air spring at the point b on the voltage sum of the two strain test points on the side beam a, XSa' to adjust the sum of the voltages on the front a-side beam,. DELTA.hbHeight, k, adjusted for point bbaAnd (3) influencing the voltage sum value of two strain test points on the a side beam when the b point is adjusted to be the b point.
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Publication number Priority date Publication date Assignee Title
JP2008040936A (en) * 2006-08-09 2008-02-21 Meidensha Corp Traveling control device of automated guided vehicle
CN102954871A (en) * 2011-08-26 2013-03-06 北京新联铁科技股份有限公司 Motor train unit bogie assembling test flow line maintenance system and maintenance method thereof
CN108225513A (en) * 2017-11-30 2018-06-29 西安航天三沃机电设备有限公司 A kind of vehicle-mounted weighing system of goods train and weight calculation method
CN108303169A (en) * 2017-11-27 2018-07-20 西安航天三沃机电设备有限公司 A kind of vehicle-mounted weighing method measuring goods train based on bolster
CN208376784U (en) * 2018-06-21 2019-01-15 大连科技学院 A kind of railway freight-car longitudinal direction unbalance loading detects warning device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008040936A (en) * 2006-08-09 2008-02-21 Meidensha Corp Traveling control device of automated guided vehicle
CN102954871A (en) * 2011-08-26 2013-03-06 北京新联铁科技股份有限公司 Motor train unit bogie assembling test flow line maintenance system and maintenance method thereof
CN108303169A (en) * 2017-11-27 2018-07-20 西安航天三沃机电设备有限公司 A kind of vehicle-mounted weighing method measuring goods train based on bolster
CN108225513A (en) * 2017-11-30 2018-06-29 西安航天三沃机电设备有限公司 A kind of vehicle-mounted weighing system of goods train and weight calculation method
CN208376784U (en) * 2018-06-21 2019-01-15 大连科技学院 A kind of railway freight-car longitudinal direction unbalance loading detects warning device

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