CN114001850B - Pantograph pressure detection method and system - Google Patents
Pantograph pressure detection method and system Download PDFInfo
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- CN114001850B CN114001850B CN202111241168.8A CN202111241168A CN114001850B CN 114001850 B CN114001850 B CN 114001850B CN 202111241168 A CN202111241168 A CN 202111241168A CN 114001850 B CN114001850 B CN 114001850B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
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Abstract
The invention provides a pantograph pressure detection method, which comprises the following steps: acquiring a pre-pressure value, an actually measured pressure electric signal and a calibrated pressure value of the pantograph; fitting based on the measured pressure electric signal and the calibrated pressure value to obtain fitted measured pressure; and correcting the fitted measured pressure based on the pressure deviation influence coefficient, the inherent deviation and the pantograph pre-pressure value to obtain the pantograph pressure. According to the detection method and system provided by the invention, the actual pressure is corrected through the influence of the introduction speed on the pressure of the pantograph, fitting and denoising of the actual pressure value, and the actual pressure value of the pantograph is obtained. Compared with the prior art, the method has the advantages that the method can adapt to various detection environments such as a forward tunnel and warehouse-in and warehouse-out detection due to the fact that the speed influence coefficient is increased; the pressure detection device is suitable for various pressure detection conditions; the equipment detection precision is improved.
Description
Technical Field
The invention relates to the field of train detection, in particular to a pantograph pressure detection method and system.
Background
Along with the high-speed development of rail vehicles in China, higher requirements are put forward on the safety and stability of the operation of the rail vehicles. During operation of the vehicle, the interaction between the pantograph and the catenary determines the reliability and quality of the power supply. When the contact pressure is too small, the off-line is easy to occur, so that the bow net is separated and an electric arc is generated; the contact pressure is too large, so that abrasion of the contact net and the pantograph is easy to increase, the service life of the pantograph net is reduced, and even serious safety accidents can be caused. Therefore, on-line detection of contact pressure of the pantograph-catenary is an important technology for safe operation and maintenance of the pantograph.
At present, the pantograph-catenary pressure detection equipment is used at detection points such as a railway main line, an out-in warehouse and the like. The existing mature technology is to use lever type structure detection, the method is connected with the contact net through one end of a lever, the pressure of the pantograph on the contact net is converted into the tension of the other end of the lever, and then the tension pressure sensor is used for collecting data, so that the interaction force of the pantograph and the contact net is obtained. The utility model patent CN 101196424A (an on-line detection device for the contact pressure of a locomotive pantograph). The utility model patent CN 202195904U (an on-line detection device for contact pressure of a pantograph of a rail locomotive) adopts a non-equal arm lever structure, and increases the ratio of the length of a force receiving arm to a detection force arm so as to reduce the stroke of a pressure sensor.
The existing on-line detection of the pantograph mainly uses a lever structure to transmit the interaction force of the pantograph net to a detection unit and detect the interaction force through a tension or pressure sensor. However, the contact force between the contact net and the pantograph is dynamic contact pressure between the pantograph slide plate and the conductor, the contact net wire and the pantograph form a vibration system with very low damping, and as the vehicle runs, the pantograph can generate vertical vibration, so that the contact pressure between the contact net and the pantograph changes, and data processing is difficult.
Meanwhile, the inherent material characteristics of the contact net and the pantograph, the initial acting force value before detection, the installation of the field pressure detection equipment, the speed of a vehicle passing through the detection unit and the like all influence the acquired data signals, so that the acquired signal data accuracy is influenced, and the measurement result does not have reference value.
Disclosure of Invention
In view of the above, the application provides a method and a system for detecting the pressure of a pantograph, which realize accurate detection of the working pressure of the pantograph.
In order to achieve the above object, the present invention provides a pantograph pressure detection method, including:
acquiring a pre-pressure value, an actually measured pressure electric signal and a calibrated pressure value of the pantograph;
Fitting based on the measured pressure electric signal and the calibrated pressure value to obtain fitted measured pressure;
and correcting the fitted measured pressure based on the pressure deviation influence coefficient, the inherent deviation and the pantograph pre-pressure value to obtain the pantograph pressure.
Preferably, the obtaining of the pre-pressure value of the pantograph is specifically: the pre-pressure value of the pantograph is obtained in a first time before the pantograph enters the detection bit.
Preferably, the measured pressure obtained based on the measured pressure electric signal and the calibration pressure fitting is specifically:
Respectively acquiring a piezoelectric signal sequence and a calibration equipment detection pressure sequence;
Fitting the piezoelectric signal sequence and the calibration equipment detection pressure sequence for n times;
And selecting a least square method with a fitting order of n for fitting, and removing dryness through mean square error.
Preferably, the pull piezoelectric signal sequence is:
s 1 (x 1, x2, x3 …), the calibration device detects the pressure sequence as follows: s 2 (y 1, y2, y3 …),
Preferably, the specific method for acquiring the pressure deviation influence coefficient caused by the vehicle speed comprises the following steps:
Collecting eddy current data;
Calculating a vehicle speed based on the eddy current data, the acquisition frequency of the eddy current data and the distance between the acquisition points of the two eddy current data;
and obtaining the influence coefficients of the different vehicle speeds on the pressure deviation of the pantograph.
Preferably, the correction is specifically:
and summing the actual measured pressure and the influence coefficient after integrating with the precompression and the fixed deviation to obtain a pantograph pressure value curve.
The invention also provides a pantograph pressure detection system, which comprises:
A pull-pressure sensor, a pantograph pre-pressure value, an actual measurement pressure electric signal and a calibration pressure value;
the fitting unit is used for obtaining the fitted measured pressure based on the measured pressure electric signal and the calibration pressure;
The processor corrects the measured pressure based on a pressure deviation influence coefficient, inherent deviation and the pre-pressure value caused by the vehicle speed to obtain the pantograph pressure;
Preferably, the method further comprises:
the eddy current sensor is used for collecting eddy current data in the running process of the train.
Preferably, the processor comprises:
The speed calculation module is used for calculating the speed of the vehicle based on the eddy current data, the sampling frequency and the distance between the two eddy current sensors;
And the influence coefficient corresponding sequencer is used for acquiring influence coefficients of the pantograph pressure deviation under different vehicle speeds.
Preferably, the processor further comprises a curve generating module, which is used for summing the measured pressure and the influence coefficient after being integrated with the precompression and the fixed deviation to obtain a pantograph pressure value curve.
The invention provides a pantograph pressure detection method, which comprises the following steps: acquiring a pre-pressure value, an actually measured pressure electric signal and a calibrated pressure value of the pantograph; fitting based on the measured pressure electric signal and the calibrated pressure value to obtain fitted measured pressure; and correcting the fitted measured pressure based on the pressure deviation influence coefficient, the inherent deviation and the pantograph pre-pressure value to obtain the pantograph pressure. According to the detection method and system provided by the invention, the actual pressure is corrected through the influence of the introduction speed on the pressure of the pantograph, fitting and denoising of the actual pressure value, and the actual pressure value of the pantograph is obtained. Compared with the prior art, the method has the advantages that the method can adapt to various detection environments such as a forward tunnel and warehouse-in and warehouse-out detection due to the fact that the speed influence coefficient is increased; the pressure detection device is suitable for various pressure detection conditions; the equipment detection precision is improved.
Drawings
FIG. 1 is a flow chart of detection provided in an embodiment of the present invention;
FIG. 2 shows an original data interception curve provided by an embodiment of the present invention;
FIG. 3 is a graph of calculated vehicle speed for two eddy current sensors provided by an embodiment of the invention;
FIG. 4 illustrates a pantograph pressure detection curve provided by an embodiment of the present invention;
FIG. 5 is a graph of a pantograph pressure detection provided by another embodiment of the present invention;
fig. 6 is a graph of a pressure detection curve of a pantograph provided by another embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
In order to achieve the above object, the present invention provides a pantograph pressure detection method, including:
Acquiring a pre-pressure value, an actually measured pressure electric signal and a calibrated pressure value of the pantograph; fitting based on the measured pressure electric signal and the calibrated pressure value to obtain fitted measured pressure; and correcting the fitted measured pressure based on the pressure deviation influence coefficient, the inherent deviation and the pantograph pre-pressure value to obtain the pantograph pressure. As shown in fig. 1, the electrical signal of the measured pressure is subjected to noise reduction and is fitted with the calibration pressure to obtain a fitted measured voltage, then the influence of the vehicle speed on the pressure is passed to obtain a pressure deviation influence coefficient, and the system inherent deviation is corrected on the fitted measured pressure to obtain the pantograph pressure.
According to the invention, after the installation of the pantograph and the overhead line system pressure detection system is completed, the pre-pressure value of the train in the detection area which is not entered is firstly obtained. On the one hand, the current contact state is evaluated, and on the other hand, the contact force correction value is calculated as a subsequent calculation of the vehicle entry detection zone. According to the invention, a pre-pressure value of the pantograph is acquired in a first time before the pantograph enters the detection bit. The first time is within the range of 4.5-5 minutes of the detection position, the accurate pre-pressure value can be obtained through detection under the first time, and then the average value is calculated so as to reduce errors. In addition, since the acquisition of the precompression value is not suitable to be far from the actual pressure detection position, 4.5-5 minutes is a preferable choice as the first time.
In order to obtain more accurate actual measurement pressure electric signals, the invention preferably removes noise generated by vibration of a pantograph and a catenary due to train running through filtering modes such as Gaussian filtering, average filtering and the like after obtaining the actual measurement pressure electric signals. And intercepting actual measurement pressure original data according to the position of the highest point of the acquired electric signal and the effective position of the electric signal, and removing redundant data at the front end and the rear end, so that the subsequent polynomial fitting is facilitated. As shown in fig. 2, the raw data of measured pressure intercepted according to the present invention.
And then measuring the pressures generated by the contact net acted by the pantograph in a plurality of groups, recording measured pressure values, and obtaining the fitting relation between the measured pressure electric signals and the calibrated pressure values in the current installation state by using a polynomial fitting unit. The measuring device is a conventional pressure detecting device, preferably a pull pressure sensor.
For example, one embodiment provided by the present invention: the electrical signal sequence of the pull-press sensor is set as follows: s 1 (x 1, x2, x3 …), the calibration device detects a pressure sequence s 2 (y 1, y2, y3 …), and the n-time fitting curve is: y= (a 0+a1x1+…+anxn). Selecting least square method with fitting order of 5 to fit, and mean square errorAnd when the minimum value is taken, each order coefficient of the 5-order fitting curve can be determined. Therefore, the fitting relation between the actual measurement pressure electric signal and the calibration pressure under the current installation condition is obtained, the stable fitted actual measurement pressure which can be read is obtained, and the influence of the characteristics of the sensor and the installation environment on the detection result is eliminated.
However, because the vibration states of the pantograph and the overhead contact line are greatly different under different vehicle speeds, the impact of the pantograph on the overhead contact line is large when the vehicle speed is high, and meanwhile, the overhead contact line and the carrier cable drive the dropper to increase the vibration of the overhead contact line, so that the signal waveform generates large vibration. The measured pressure after the fitting relation is obtained is smaller than the true value, and the influence on solving the true highest pressure value is large. Therefore, the influence calibration coefficients of different vehicle speeds on the contact pressure of the pantograph are obtained through laboratory environment tests and are used as the basis for correcting the speed influence by a subsequent algorithm.
The specific acquisition method according to the invention comprises the following steps: collecting eddy current data; calculating a vehicle speed based on the acquisition frequency of the electric vortex data and the distance between the acquisition points of the two electric vortex data; and obtaining the influence coefficients of the different vehicle speeds on the pressure deviation of the pantograph.
Specifically, two eddy current sensors are installed on a train positive line segment and a train entering line, when a vehicle enters or passes through a detection segment, the train can generate eddy current change on the periphery, and the vehicle speed is calculated according to eddy current data acquired by the eddy current sensors, the acquisition frequency and the distance between acquisition points of the two eddy current data, so that the detection pressure deviation caused by the vehicle speed is corrected by a follow-up algorithm. As shown in fig. 3, ws.1 and ws.2 are curves sampled by two eddy current sensors respectively, and by calculating the sampling value positions of the highest points of waveforms of the two sensors, the sampling number n of the vehicle passing through the two eddy current sensors can be obtained, and the time t of the vehicle passing through the two sensors can be obtained by combining the current sampling frequency f. If the distance between the two sensors is s during installation, the speed of the vehicle to be detected passing through the pantograph pressure detection area is
For example, in an experimental environment, the vehicle speed increases from 7.0km/h to 20km/h, and the range of the generated interference signal increases from + -5N to + -20N. According to the interference signal range generated under different vehicle speeds, the coefficient (K s is more than or equal to 1, and the larger the interference signal range is, the larger K s is). According to experience, the value of K s is related to the width of the interference signal range and the obtained maximum value of the fitting signal, and the value of K s and the vehicle speed V are in a positive proportional relation, such as the numerical values given in the table 1 provided by the embodiment of the invention. And scaling the fitted measured pressure to make the fitted value closer to the true highest pressure value.
And obtaining the influence calibration coefficients of different vehicle speeds on the contact pressure of the pantograph through laboratory environment test, and taking the influence calibration coefficients as the basis for correcting the speed influence by a subsequent algorithm. Taking the warehouse-in and warehouse-out detection section as an example, the influence coefficients, or correction coefficients, of the manual work detection pressure at different vehicle speeds are given in table 1. And selecting a proper influence coefficient or correction coefficient according to the current vehicle speed measured by the speed detection module, correcting the actually measured pressure, and ensuring the detection precision. The influence coefficient is smaller than 1 when the vehicle speed is smaller than 3km/h, and larger than 1.15 when the vehicle speed is larger than 20 km/h.
TABLE 1 influence of different vehicle speeds on pressure measurements
And after the influence coefficient is obtained, summing the actual measured pressure after fitting and the influence coefficient after integrating with the precompression and the fixed deviation to obtain a pantograph pressure value curve. According to the embodiment of the invention, the pressure of the pantograph and the overhead line system is calculated according to the electrical signals and the signal pressure calibration fitting relation of the tension and pressure sensor and the pre-pressure: let the actual measurement electric signal sequence be s 3＝(a1,a2,a3,…,an), can confirm the correspondent pressure value of arbitrary voltage signal sample through the electric signal-pressure fit polynomial that the calibration obtains the actual measurement pressure sequence s 4＝(b1,b2,b3,…bn), let the pressure that the vehicle did not get into the pressure detection area be F pre, the coefficient of influence that causes under the different speed of a motor vehicle condition be K si (as table 1), K si installs and the fixed system deviation Inf sys that the sensor self characteristic caused, the fixed system deviation is the pressure difference that is calculated by the sensor electric signal under the normal operating pressure of pantograph before and after the installation.
The contact pressure sequence of the working position of the pantograph can be obtained through the parameters, and the contact pressure sequence is as follows:
s＝Ksi·s4+Fpre+Infsys
Finally, a contact pressure amplitude curve of the working position of the pantograph is obtained, and fig. 4, fig. 5 and fig. 6 are dynamic pressure curves of the pressure of the three pantographs on the vehicle. In the figure, the fluctuation curve represents the pressure change curve with time before the method of the invention is not used, the smooth curve represents the pressure curve after the method of the invention is used, and the working position pressure of the pantograph can be obtained by taking the peak value of the smooth curve according to the curve, as shown in figure 4, the working position pressure of the pantograph is 110.47. The operating pressure of the pantograph in fig. 5 is 103.24 and the operating pressure of the pantograph in fig. 6 is 105.15.
The invention also provides a pantograph pressure detection system, which comprises: a pull-pressure sensor, a pantograph pre-pressure value, an actual measurement pressure electric signal and a calibration pressure value; the fitting unit is used for obtaining the fitted measured pressure based on the measured pressure electric signal and the calibration pressure; the processor corrects the measured pressure based on a pressure deviation influence coefficient, inherent deviation and the pre-pressure value caused by the vehicle speed to obtain the pantograph pressure;
In order to obtain the influence of the vehicle speed on the measured pressure, the invention further comprises an eddy current sensor for collecting eddy current data. The processor includes: the speed calculation module is used for calculating the speed of the vehicle based on the eddy current data, the sampling frequency and the distance between the detection positions of the two eddy current sensors; and the influence coefficient corresponding sequencer is used for acquiring influence coefficients of the pantograph pressure deviation under different vehicle speeds. The processor also comprises a curve generating module which is used for summing the actual measured pressure and the influence coefficient after being integrated with the precompression and the fixed deviation to obtain a pantograph pressure value curve.
According to the invention, the system also provides alarm service, and according to the safety pressure range of the pantograph, remote alarm is realized when the detected pressure exceeds the range, so as to prompt maintenance personnel to overhaul. And determining the pressure abnormality type (hard spot, too low contact pressure, too high contact pressure and the like) according to the extracted characteristics of the acquired waveforms, generating different alarm prompts (ALR 1, ALR2 and ALR3 …), and determining the maintenance emergency degree.
And transmitting the dynamic pressure data of each pantograph to a remote computer through a wireless transmission module, displaying detection results, accumulating pressure detection data, monitoring the life cycle state of a pantograph net, and giving maintenance suggestions to the operation line vehicle.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (7)
1. A pantograph pressure detection method, comprising:
acquiring a pre-pressure value of the pantograph, an actually measured pressure electric signal and a calibrated pressure value, wherein the pre-pressure value of the pantograph is acquired in a first time before the pantograph enters a detection position;
Fitting based on the measured pressure electric signal and the calibrated pressure value to obtain fitted measured pressure;
Correcting the fitted actual measured pressure based on a pressure deviation influence coefficient, an inherent deviation and the pantograph pre-pressure value to obtain a pantograph pressure;
s=k si·s4+Fpre+Infsys, where s is the pantograph pressure, K si is the pressure deviation influence coefficient under different vehicle speed conditions, s 4 is the fitted measured pressure, F pre is the pantograph precompression value, and Inf sys is the inherent deviation;
The fitted measured pressure obtained based on the measured pressure electric signal and the calibration pressure is specifically: respectively acquiring a piezoelectric signal sequence and a calibration equipment detection pressure sequence; fitting the piezoelectric signal sequence and the calibration equipment detection pressure sequence for n times; selecting a least square method with a fitting order of n for fitting, and removing noise through mean square error;
The method for acquiring the pressure deviation influence coefficient comprises the following steps: collecting eddy current data; calculating a vehicle speed based on the eddy current data, the acquisition frequency of the eddy current data and the distance between the acquisition points of the two eddy current data; and acquiring pressure deviation influence coefficients of the pantograph pressure at different vehicle speeds.
2. The method of claim 1, wherein the pull-piezoelectric signal sequence is: s1 (x 1, x2, x3..) the calibration device detects the pressure sequence as: s2 (y 1, y2, y3..).
3. The method according to claim 1, wherein the correction is specifically:
and summing the actual measured pressure and the influence coefficient after integrating with the precompression and the fixed deviation to obtain a pantograph pressure value curve.
4. A pantograph pressure detection system, comprising:
The pressure sensor is used for acquiring a pre-pressure value of the pantograph, an actually measured pressure electric signal and a calibrated pressure value, wherein the pre-pressure value of the pantograph is acquired in a first time before the pantograph enters a detection position;
The fitting unit is used for fitting the measured pressure based on the measured pressure electric signals and the calibrated pressure values to obtain fitted measured pressure;
The processor corrects the fitted actual measured pressure based on a pressure deviation influence coefficient caused by the vehicle speed, the inherent deviation and the pantograph pre-pressure value to obtain the pantograph pressure;
s=k si·s4+Fpre+Infsys, where s is the pantograph pressure, K si is the pressure deviation influence coefficient under different vehicle speed conditions, s 4 is the fitted measured pressure, F pre is the pantograph precompression value, and Inf sys is the inherent deviation;
The fitting unit fits the actual measured pressure based on the actual measured pressure electric signal and the calibration pressure to obtain the fitted actual measured pressure specifically comprises the following steps: respectively acquiring a piezoelectric signal sequence and a calibration equipment detection pressure sequence; fitting the piezoelectric signal sequence and the calibration equipment detection pressure sequence for n times; selecting a least square method with a fitting order of n for fitting, and removing noise through mean square error;
The method for acquiring the pressure deviation influence coefficient in the processor comprises the following steps: collecting eddy current data; calculating a vehicle speed based on the eddy current data, the acquisition frequency of the eddy current data and the distance between the acquisition points of the two eddy current data; and acquiring pressure deviation influence coefficients of the pantograph pressure at different vehicle speeds.
5. The system of claim 4, further comprising:
The eddy current sensor is used for acquiring eddy current data.
6. The system of claim 5, wherein the processor comprises:
The speed calculation module is used for calculating the speed of the vehicle based on the eddy current data, the acquisition frequency and the distance between the detection positions of the two eddy current sensors;
and the influence coefficient corresponds to the sequencer and is used for acquiring pressure deviation influence coefficients of the pantograph at different vehicle speeds.
7. The system of any one of claims 4-6, wherein the processor further comprises a curve generation module configured to sum the measured pressure and the influence coefficient, and the measured pressure and the influence coefficient, together with the pre-pressure and the fixed deviation, to obtain a pantograph pressure value curve.
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