阅读说明：本技术 一种跨座式单轨智能受电弓 (Straddle type single-rail intelligent pantograph ) 是由 陈仁祥 王帅 胡小林 徐向阳 杜子学 杨震 孙文杰 于 2021-11-16 设计创作，主要内容包括：本发明涉及一种跨座式单轨智能受电弓,属于单轨技术领域。包括接触力检测系统、控制器、作动器、受电弓智能升降系统。接触力检测系统通过安装在弓头的应变式压力传感器获取弓网系统接触力数据；控制器内嵌入一个训练好的接触力预测模型,根据接触力检测系统检测的接触力数据实时下一时刻接触力,而后根据接触力预测值与期望值计算下一时刻所需的期望控制力,并将控制力信号传递给作动器。作动器使用磁流变阻尼器,安装于受电弓下框架处。磁流变阻尼器根据控制力信号调节输出阻尼力以降低弓网接触力波动程度,实现受电弓的主动控制,提高车辆的受流质量。受电弓升降系统则是通过安装升弓弹簧、电动缸、用于固定弓头的机械扣实现升弓、降弓和降弓后固定弓头。(The invention relates to a straddle type monorail intelligent pantograph, and belongs to the technical field of monorail. The pantograph intelligent lifting system comprises a contact force detection system, a controller, an actuator and a pantograph intelligent lifting system. The contact force detection system acquires contact force data of the pantograph-catenary system through a strain type pressure sensor arranged on a pantograph head; a trained contact force prediction model is embedded into the controller, the contact force at the next moment is real-time according to the contact force data detected by the contact force detection system, the expected control force required at the next moment is calculated according to the predicted value and the expected value of the contact force, and the control force signal is transmitted to the actuator. The actuator uses a magneto-rheological damper and is arranged at the lower frame of the pantograph. The magnetorheological damper adjusts the output damping force according to the control force signal to reduce the fluctuation degree of the pantograph-catenary contact force, realize the active control of the pantograph and improve the current collection quality of the vehicle. The pantograph lifting system realizes pantograph lifting, pantograph lowering and pantograph rear-fixing by installing a pantograph lifting spring, an electric cylinder and a mechanical buckle for fixing the pantograph head.)

1. The utility model provides a stride a formula monorail intelligence pantograph which characterized in that: the pantograph-catenary contact force detection system comprises a pantograph-catenary contact force detection system, a controller, an actuator and a pantograph lifting system;

the bow net contact force detection system comprises two strain type pressure sensors, wherein the strain type pressure sensors are used for converting pressure into a transformation ratio of a resistance value to carry out pressure measurement, averaging values of measurement signals of the sensors after filtering is carried out to obtain contact force data, and the contact force data are stored in the contact force detection system and are synchronously transmitted to the controller.

2. The straddle type monorail intelligent pantograph according to claim 1, wherein: the controller acquires real-time bow net contact force data according to the bow net contact force detection system, performs model prediction training and real-time prediction on contact force data of the next time step by utilizing the contact force data, calculates the required control force at the next time according to the predicted value and the expected value of the contact force, and transmits an expected control force signal to the actuator; the controller is built on the basis of a prediction model, so that the contact force prediction and the calculation and transmission of control force signals are realized.

3. The straddle type monorail intelligent pantograph according to claim 1, wherein: the actuator is arranged at the lower frame and is a magneto-rheological damper; after the actuator receives the control force signal, the damper is output to the pantograph by calculating and adjusting the current and further by changing the internal magnetic field of the magnetorheological damper.

4. The straddle type monorail intelligent pantograph according to claim 3, wherein: the lower frame is connected with the magnetorheological damper, and when the magnetorheological damper outputs a damping force, an expected control force is applied to the lower frame by extending and contracting the piston rod, so that the active control of the pantograph is realized.

5. The straddle type monorail intelligent pantograph according to claim 4, wherein: the pantograph lifting system is used for installing a pantograph lifting spring for lifting a pantograph and installing an electric cylinder for lowering the pantograph; connecting an electric cylinder and a bow lifting spring to a lower frame, starting the electric cylinder to push the lower frame to rotate when bow lowering is needed, driving a bow head to descend until the bow head contracts to a specified position, and finally fixing the bow head by a mechanical buckle; when the bow needs to be lifted, the mechanical buckle is controlled to be separated from the bow head, the bow lifting spring works, the lower frame is pulled to rotate, and the bow head is lifted to a specified position.

Technical Field

The invention belongs to the technical field of single rails, and relates to a straddle type single rail intelligent pantograph.

Background

The pantograph system is a key component in the power supply system of the electrified railway and is responsible for the important task of transmitting the electric energy of the traction network to the electric locomotive for use. Different from a top vertical current collection mode of a pantograph and a flexible contact network system of a traditional railway vehicle, the straddle-type monorail adopts lateral rigid current collection (a rigid contact network is erected on a track beam, and the pantograph is installed on the lateral surface of a bogie). By doing so, the current collection requirement of the vehicle in high-speed operation is met, and meanwhile, the installation, overhaul and maintenance conditions of the pantograph-catenary system under the low-headroom condition are guaranteed.

When the rail vehicle is in operation, the pantograph and the contact surface of the contact wire are in a sliding friction state, and in order to ensure normal current taking, certain contact pressure exists between pantograph nets. But because the contact net supports linkage trouble, hard spot or pantograph bow wearing and tearing unusually, arouses the transient variation of pantograph bow contact pressure, makes the pantograph bow take place the spring on the contact net for pantograph bow high frequency strikes the phenomenon of contact net promptly, will lead to following three kinds of harm: 1) the running noise of the vehicle is aggravated, radiation and electromagnetic waves are generated, the environment is polluted, and even the communication line is interfered; 2) the mechanical abrasion between the bow head and the contact net is aggravated by the severe contact force fluctuation, and the broken bow can even fail after long-term operation. 3) The pantograph and the contact net of the train are temporarily mechanically disconnected, so that the phenomenon of arc discharge is called as off-line, the pantograph head and the contact net can be burnt, electrical elements on the train can be damaged in serious conditions, and the running safety of the train is influenced. In conclusion, in order to ensure the normal running of the train, ensure the personal safety of passengers and reduce the running cost of the train, the intelligent pantograph is invented, and the intellectualization of pantograph lifting and pantograph lowering and active control is realized under the condition of low headroom.

Disclosure of Invention

In view of the above, the present invention provides a straddle-type monorail intelligent pantograph, which uses a neural network to predict a pantograph-catenary system contact force of a straddle-type monorail, and uses a prediction model established by a gate control cycle unit network as a basis of a controller, selects a magnetorheological damping as an actuator, and selects an electric cylinder and a spring to control a lower frame and a mechanical buckle. The invention relates to a straddle-type monorail intelligent pantograph, which aims to realize pantograph lifting and pantograph lowering of the pantograph, reduce the contact force fluctuation degree of a pantograph-network coupling system, reduce off-line between pantograph-networks and occurrence of electric arcs, and improve the current collection quality of a rail vehicle.

In order to achieve the purpose, the invention provides the following technical scheme:

1) contact force signal F_tDetection of (3). The straddle type monorail intelligent pantograph is to realize active control and adjust contact force, and firstly, pantograph-catenary contact force data are obtained. However, since the pantograph system operating environment is complicated, the detected data may contain a large amount of noise components, and the installation of a large number of sensors on the pantograph may not be acceptable for safety reasons. Therefore, a smaller number of sensors are required to obtain more accurate bow net contact force data. Taking the japanese imported KC118 pantograph as an example, to obtain the required contact force data, two pressure sensors are mounted on the head of the pantograph to measure the contact force, and the reliability of the measured value needs to be considered under the severe operating environment, so that the necessary filtering and denoising processing is performed after the data are obtained. And finally, calculating the mean value of the signals of the two sensors, and storing the mean value in a contact force detection system.

2) And obtaining an expected control force signal, and obtaining a contact force predicted value F' through the established bow net contact force prediction model and the obtained contact force signal. And after the controller acquires the bow net contact force data, predicting the contact force value of the next time step by combining a bow net contact force prediction model established by the gate control cycle unit network. And then calculating the difference value between the expected value and the predicted value of the contact force to serve as a target control signal, and transmitting the target control signal to the actuator, thereby completing the construction of the controller. The controller which is built is arranged at the bottom plate of the pantograph so as to be connected with the pantograph-catenary contact force detection system at the front section and the actuator at the rear end.

In order to obtain good current-carrying quality, it is necessary to ensure that the bow net contact force pressure fluctuations are within the standard range. The smaller the pressure fluctuations, the better the flow quality. Taking the selected Japanese style KC118 type single-track pantograph as an example, the technical specification of the design of the straddle type single-track pantograph is inquired, and the contact force of the pantograph-catenary in the whole working stroke is required to be 44N-79N, and the contact force of the pantograph in the normal working position is required to be 59 +/-10N. Thus, the expected value F of the contact force in the stroke is evaluated_LIs 59N. And then calculating the control force u (t) required at the next moment by using the prediction result and the expected contact force value.

3) The final operation of the active control system is achieved by actuators in conjunction with appropriate mechanical devices. And adjusting the damping force of the magnetorheological damping output according to the expected control force signal u (t). Wherein the damping force F of the magnetorheological damper_dCan be calculated by a nonlinear Bingham model, and the formula is as follows:

in the formula C_poIs the damping coefficient of the magnetorheological fluid after yielding,is the speed of the piston, F_ySgn (—) is a mathematical sign function for the yield force induced by the magnetic field. In the formulaThe viscous damping force is not adjustable, so that the damping force of the magnetorheological damper can be adjusted by adjusting the variable Coulomb damping force in the magnetorheological damperAnd (5) realizing. The magnetorheological damping applies a damping force to the pantograph net system.

4) The intelligent pantograph lifting and pantograph lowering is realized through an electric cylinder and a spring. And a spring and an electric cylinder are respectively arranged at the lower frame and the mechanical buckle. When the bow needs to be lifted, the electric cylinder at the mechanical buckle is started to push the mechanical buckle to rotate, so that the mechanical buckle is separated from the bow head, and then the lower frame is pulled to rotate under the action of the bow lifting spring at the lower frame, so that the bow is lifted; when the bow needs to be lowered, the electric cylinder at the lower frame is started to push the lower frame to rotate, so that the bow is lowered until the bow is pulled to the mechanical buckle on the bottom plate, the bow is fixed, and the bow lowering operation is completed. And the pantograph lifting and pantograph lowering are completed by controlling the work of the two electric cylinders.

The invention has the beneficial effects that:

the intelligent pantograph is based on a monorail pantograph-catenary coupling system, a contact force detection system, a controller, an actuator and a pantograph intelligent lifting system. The contact force detection system includes a strain gauge pressure sensor, a filter, and a memory. The controller is established by taking a GRU prediction model as a core; the actuator selects a magneto-rheological damper, and meanwhile, in order to enable each device to be used under the condition of ensuring the original function of the pantograph, the lower frame is redesigned; the pantograph lifting and lowering is realized by installing a pantograph lifting spring, an electric cylinder and a mechanical buckle for fixing a pantograph head. In conclusion, a set of straddle type intelligent pantograph design capable of completing active control and pantograph lifting is completed.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.

Drawings

For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:

fig. 1 is a flow chart of a system for an intelligent pantograph according to the present invention;

fig. 2 is a schematic structural diagram of an intelligent pantograph according to the present invention;

FIG. 3 is a diagram illustrating a portion of the predicted results of the controller according to the present invention;

FIG. 4 is a diagram illustrating the control effect of the intelligent pantograph according to the present invention;

FIG. 5 is a schematic view of an intelligent pantograph according to the present invention;

fig. 6 is a design view of the lower frame of the intelligent pantograph according to the present invention.

Reference numerals: 1-pressure sensor, 2-bow head, 3-upper frame, 4-contact force sensor, 5-controller, 6-actuator, 7-lower frame, 8-pantograph-ascending spring, 9-bottom plate, 10-electric cylinder I, 11-connecting rod, 12-balancing rod, 13-mechanical buckle, 14-spring, 15-electric cylinder II, 16-actuator mounting support, 17-spring mounting support, 18-electric cylinder mounting support and 19-magnetorheological damper.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.

Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.

Hereinafter, preferred embodiments of the present invention will be described in detail as shown in fig. 1 to 6. The magnetic rheologic damper comprises a pressure sensor 1, a bow head 2, an upper frame 3, a contact force sensor 4, a controller 5, an actuator 6, a lower frame 7, a bow lifting spring 8, a bottom plate 9, an electric cylinder I10, a connecting rod 11, a balancing rod 12, a mechanical buckle 13, a spring 14, an electric cylinder II 15, an actuator mounting support 16, a spring mounting support 17, an electric cylinder mounting support 18 and a magneto-rheological damper 19.

1) Detecting real-time contact force data of the pantograph-catenary system by using a contact force detection system;

2) predicting the contact force at the next moment by combining the trained contact force prediction model and the contact force data;

3) calculating the control force required at the next moment according to the predicted value and the expected value of the contact force;

4) selecting a magneto-rheological damper as an actuator, and adjusting a magneto-rheological damping magnetic field according to a control force signal so as to adjust a damping force applied to the pantograph net system;

5) damping force is applied to the pantograph-catenary system through magnetorheological damping, so that the fluctuation degree of the pantograph-catenary contact force is reduced, and the current collection quality of the vehicle is improved;

6) the pantograph lifting system is designed to realize pantograph lifting and pantograph lowering operations

The present example is illustrated below:

the first step is as follows: and detecting the bow net contact force in real time through a contact force detection system.

In order to reduce errors in the measurement, sensors are installed at appropriate positions.

There are two situations that may cause the input end of the controller not to obtain the real-time status signal, firstly, the measurement failure caused by the sensor itself, and secondly, the data packet loss in the data transmission process. The complicated working environment of the bow net system is likely to cause measurement failure. A Kalman filter is selected to optimize the contact force signal acquired by the sensor.

The specific method comprises the following steps: 1) firstly, measuring contact force data through a strain type pressure sensor, wherein when a bow head is in contact with a contact net and generates contact force, the bow head can generate deformation, and the strain type pressure sensor can calculate the contact force data according to the compression and tension change conditions generated in different directions; 2) filtering by using a Kalman filter to eliminate noise signals generated by external interference in the signal acquisition process; 3) calculating the average value of the two sensor signals as final contact force data; 4) the contact force data is collected using a data store. Therefore, the work of bow net contact force data acquisition is completed.

The whole set of contact force detection system is arranged on the bottom plate of the pantograph through an insulating material, and the contact force sensor is arranged at the head of the pantograph.

The second step is that: and (3) establishing a controller, finishing the training of the gate control cycle unit network prediction model through historical data in the early stage, and embedding the trained contact force prediction model into the controller. In actual use, the contact force detection system transmits the acquired contact force signal to the controller, and the controller can predict the contact force F' at the next moment in real time by using the contact force prediction model.

The controller is also suitable for being mounted on the bottom plate of the pantograph by using an insulating material.

The third step: and calculating the required control force u (t) at the next moment according to the predicted value and the expected value of the contact force.

Taking the selected Japanese KC118 type monorail pantograph as an example, the expected contact force value F_LIs 59N at the next timeThe required control force u (t) is the desired value F_LThe difference from the predicted contact force F, namely:

u(t)＝F_L-F′

the fourth step: selection and installation of actuators. The active control system is based on a pantograph system, a controller and an actuator. The controller is established by taking a GRU prediction model as a core, and the actuator is a magneto-rheological damper which has the advantages of adjustable selective damping, convenient control, quick response, low energy consumption and simple structure.

Wherein the damping force F of the magnetorheological damper_dCan be calculated by a nonlinear Bingham model, and the formula is as follows:

in the formula C_poIs the damping coefficient of the magnetorheological fluid after yielding,is the speed of the piston, F_ySgn (—) is a mathematical sign function for the yield force induced by the magnetic field.

Damping force F of magnetorheological damper_dThe device consists of two parts: passive viscous damping forceAnd variable coulomb damping forceThe former is an unadjustable damping force determined by the dynamic viscosity and flow rate of the fluid, and only a variable coulomb damping force is availableCan be adjusted and controlled. Therefore, the specific method for applying the magnetorheological damper is as follows: when the actuator receives a control force u (t) signal input by the controller, the input current i of the MRD is calculated and adjusted to control the magnetic field intensity, and then the MRF shear yield strength is changed to generate the expected control force. Damping force mainly related to internal activity of damperPlug displacement is related to current, and the formula is as follows:

u(t)＝F_d＝f(i，x)

wherein i is input current and F is damping force F_dMapping relation with i and x.

The fifth step: the magnetorheological damper is arranged on the bottom plate by utilizing an insulating material, and matched mechanical facilities and bearings are arranged, so that the magnetorheological damper is connected to the frame part and can rotate along with the movement of the bow. The magnetorheological damping is used for applying a damping force to the pantograph-catenary system, so that the fluctuation degree of the pantograph-catenary contact force is reduced, the active control of the pantograph is realized, and the current collection quality of the vehicle is improved.

In order to highlight the tracking force and speed of the active control theoretical value and the actual value, the magneto-rheological damper is selected to be arranged at the bottom of the frame.

An ear-shaped support frame is designed on the lower frame, so that a piston rod of the magnetorheological damper is connected with the lower frame. When the bow net contact force is larger, the magnetorheological damper contracts the piston rod, pulls the lower frame to descend, and further reduces the bow net contact force; when the bow net contact force is smaller, the magnetorheological damper extends the piston rod to output a certain damping force to push up the lower frame, so that the bow net contact force is increased, the fluctuation degree of the bow net contact force is reduced, and the current collection quality is improved.

And a sixth step: when the train stops running, the bow lowering operation needs to be executed. And controlling an electric cylinder arranged on the lower frame to operate, pulling the lower frame to rotate, and further driving the bow head to descend. When the bow head is contracted to the designated position, the bow head is fixed by the mechanical buckle, thereby completing the bow lowering operation. When the train needs to be restarted, the pantograph lifting device can pull the mechanical buckle to rotate by starting the electric cylinder at the mechanical buckle, so that the mechanical buckle is separated from the pantograph head, then the pantograph is lifted under the action of the pantograph lifting spring at the lower frame until the pantograph reaches a specified position, at the moment, the pantograph is in static contact with a contact net, and the static contact force between pantograph nets is about 100N;

the invention provides a design of a straddle-type monorail intelligent pantograph, aiming at the problem of severe contact force fluctuation of a pantograph-catenary system when a straddle-type monorail vehicle runs and improving the current-receiving quality of the monorail vehicle. The working steps are as follows: firstly, acquiring contact force data of a pantograph-catenary system by using a contact force detection system; secondly, establishing a controller, embedding the trained contact force prediction model into the controller, and predicting the contact force at the next moment; thirdly, calculating the control force required at the next moment according to the predicted value and the expected value of the contact force and transmitting an expected control force signal to the actuator; and then, the magneto-rheological damper is selected as an actuator, and the output damping force of the magneto-rheological damper is adjusted according to the control force signal, so that the fluctuation degree of the pantograph-catenary contact force is reduced, the active control of the pantograph is realized, and the current collection quality of the vehicle is improved. And finally, withdrawing the pantograph head through the pantograph lifting system, and performing pantograph lifting operation when the pantograph head needs to be used.

By analyzing the pantograph reduced mass model and the corresponding kinetic equation, the static lifting force F of the pantograph-catenary system₀110N. The parameters of rigidity and damping coefficient are measured by instrument experiment and are respectively k₂＝12900N/m、c₂＝100N·s/m、k₁＝17000N/m、c₁200N · s/m. Equivalent mass m of the bow and the frame₁＝2.49kg、m₂10.54 kg. Contact stiffness k_s82000N/m. The spacing L between the supporting insulators of the rigid contact net is 2 m. Establishing a Simulink simulation model, acquiring bow net system contact force data for experiment, and comparing with the acquired bow net contact force raw data to verify the advantages of the bow net system contact force data, wherein the comparison result is shown in Table 1, and the experiment result is shown in figures 4 and 5.

TABLE 1 comparison of bow-net contact force control results at 80Km/h

Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.