CN-121997453-A - Vehicle stability evaluation method and device, electronic equipment and readable storage medium

CN121997453ACN 121997453 ACN121997453 ACN 121997453ACN-121997453-A

Abstract

The application provides a vehicle stability assessment method and device, electronic equipment and a readable storage medium, belonging to the technical field of railway vehicles; the method comprises the steps of obtaining a wheel track force estimated value in a specified direction based on a first mapping relation constructed in advance and acceleration in the specified direction, and evaluating the running stability of a vehicle based on the wheel track force estimated value in the specified direction. The application can reduce the evaluation cost of the running stability of the vehicle and improve the real-time performance of the evaluation.

Inventors

GAO ZHONGKUN
Lu Runping
HAN YUNFEI
LIU YUNPENG
ZHANG HAIDONG
WANG SHUANG
WANG MENG
WANG QI

Assignees

中车唐山机车车辆有限公司

Dates

Publication Date: 20260508
Application Date: 20260121

Claims (11)

1. A vehicle stability assessment method, the method comprising: Acquiring acceleration of a bogie frame of a vehicle in a designated direction, wherein the designated direction is vertical and/or transverse; Obtaining a wheel track force estimated value in a specified direction based on a first mapping relation constructed in advance and the acceleration in the specified direction; And evaluating the running stability of the vehicle based on the wheel track force estimated value in the specified direction.
2. The vehicle stability assessment method according to claim 1, wherein the first map is a first transfer function for characterizing a functional relationship between acceleration in a specified direction and wheel-rail force in the specified direction; The obtaining the wheel track force estimated value in the specified direction based on the pre-constructed first mapping relation and the acceleration in the specified direction comprises the following steps: The wheel-rail force in the specified direction is obtained based on the acceleration in the specified direction and the first transfer function, wherein the first transfer function is obtained by calibration when the wheel-rail system is in a static and non-load state; The method comprises the steps of obtaining a load working condition of a wheel-rail system in a current period, determining a first correction coefficient based on the load working condition of the wheel-rail system in the current period, and correcting the wheel-rail force in the specified direction based on the first correction coefficient to obtain a wheel-rail force estimated value in the specified direction.
3. The vehicle stability assessment method according to claim 2, wherein the calibration process of the first transfer function includes: Applying a sweep excitation signal to the wheel track system in a static no-load state; Acquiring a plurality of groups of first test data corresponding to the sweep frequency excitation signals, wherein each group of first test data comprises wheel track force in a specified direction and acceleration in a corresponding specified direction under the corresponding frequency excitation signals; And performing data fitting based on the plurality of groups of first test data to obtain the first transfer function.
4. The vehicle stability assessment method according to claim 3, wherein said fitting data based on said plurality of sets of first test data to obtain said first transfer function comprises: carrying out Fourier transform on wheel track force in a specified direction and acceleration in the specified direction in each group of first test data to obtain frequency domain data corresponding to each group of first test data, wherein the frequency domain data corresponding to each group of first test data comprises frequency domain amplitude of the wheel track force in the specified direction and frequency domain amplitude of the acceleration in the specified direction; performing data fitting based on frequency domain data corresponding to a plurality of groups of first test data to obtain the first transfer function; wherein the obtaining the wheel track force in the specified direction based on the acceleration in the specified direction and the first transfer function includes: Performing Fourier transform on the acceleration in the specified direction to obtain a frequency domain amplitude of the acceleration in the specified direction; Obtaining the frequency domain amplitude of the wheel track force in the specified direction based on the frequency domain amplitude of the acceleration in the specified direction and the first transfer function; And in the set frequency band, carrying out frequency domain integration on the frequency domain amplitude of the wheel track force in the specified direction to obtain the wheel track force in the specified direction.
5. The vehicle stability assessment method of claim 2, wherein said determining a first correction factor based on a load condition of said wheel-rail system during a current time period comprises: Searching a second mapping relation based on the load working condition of the wheel track system in the current period to obtain the first correction coefficient, wherein the second mapping relation is used for representing the corresponding relation between the load working condition of the wheel track system and the first correction coefficient; the method for determining the corresponding relation between the load working condition and the first correction coefficient comprises the following steps: Applying static load to the wheel-rail system for multiple times along the appointed direction in a load range corresponding to a load working condition to obtain multiple groups of second test data, wherein each group of second test data comprises acceleration in the appointed direction and wheel-rail force in the appointed direction under the corresponding load condition; calculating a wheel track force estimated value in a specified direction based on the acceleration in the specified direction in each set of second test data and the first transfer function; Performing data fitting based on a plurality of wheel-rail force predicted values in the specified direction and corresponding wheel-rail force actual measurement values in the specified direction to obtain a proportional relationship between the wheel-rail force predicted values in the specified direction and the wheel-rail force actual measurement values in the specified direction, wherein the wheel-rail force actual measurement values in the specified direction are wheel-rail forces in the specified direction contained in the second test data; and taking the proportional coefficient in the proportional relationship as a first correction coefficient corresponding to the load working condition.
6. The vehicle stability assessment method according to claim 1, wherein the first mapping relationship is a second transfer function for characterizing a functional relationship between displacement of the bogie frame in a specified direction and wheel-rail forces in the specified direction; The obtaining the wheel track force estimated value in the specified direction based on the pre-constructed first mapping relation and the acceleration in the specified direction comprises the following steps: acquiring a plurality of accelerations in a specified direction, wherein the plurality of accelerations are accelerations at a plurality of continuous time points; Performing secondary integration on the acceleration in the specified direction to obtain displacement of the bogie frame in the specified direction; Obtaining an estimated wheel-rail force value in a specified direction based on the displacement of the bogie frame in the specified direction and the second transfer function; The second transfer function is: ; Wherein, the Represents an estimated wheel-rail force value in a specified direction, Representing the stiffness of the wheel-rail system in a given direction, Representing displacement of the bogie frame in a given direction, Representing the second correction factor.
7. The vehicle stability assessment method according to claim 1, wherein the specified direction is vertical, the wheel-rail force estimation value in the specified direction is a wheel-rail vertical force estimation value, and the assessment of the vehicle running stability based on the wheel-rail force estimation value in the specified direction comprises: Calculating the mean value and standard deviation of the wheel-rail vertical force estimated values based on a plurality of continuous time points; calculating a fluctuation coefficient of the wheel-rail vertical force based on the mean and the standard deviation; the vertical stability of the vehicle is evaluated based on the coefficient of fluctuation of the wheel-rail vertical force.
8. The vehicle stability assessment method according to any one of claims 1 to 7, characterized in that the specified direction is a lateral direction, and the acquiring acceleration of the vehicle bogie frame in the specified direction is acquiring lateral acceleration of the vehicle bogie frame, the method further comprising: Performing Fourier transform on the transverse acceleration to obtain a frequency domain amplitude of the transverse acceleration; Performing frequency domain integration on the frequency domain amplitude of the transverse acceleration in the serpentine sensitive frequency band to obtain the energy value of the serpentine sensitive frequency band; Performing frequency domain integration on the frequency domain amplitude of the transverse acceleration in a set frequency band to obtain a total energy value, wherein the serpentine sensitive frequency band is a subset of the set frequency band, and the serpentine sensitive frequency band is 2 Hz-8 Hz; calculating the ratio of the energy value of the serpentine sensitive frequency band to the total energy value; The lateral stability of the vehicle is evaluated based on the relative magnitude of the ratio and a preset risk threshold.
9. A vehicle stability evaluation device, characterized by comprising: the acceleration acquisition module is used for acquiring the acceleration of the bogie frame of the vehicle in a designated direction, wherein the designated direction is vertical and/or transverse; the wheel-rail force estimation module is used for obtaining a wheel-rail force estimation value in a specified direction based on a first mapping relation constructed in advance and the acceleration in the specified direction; And the stability evaluation module is used for evaluating the running stability of the vehicle based on the wheel track force estimated value in the specified direction.
10. An electronic device comprising a memory, a processor and a computer program stored in the memory and running on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 8 when the computer program is executed.
11. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 8.

Description

Vehicle stability evaluation method and device, electronic equipment and readable storage medium Technical Field The application belongs to the technical field of railway vehicles, and particularly relates to a vehicle stability assessment method and device, electronic equipment and a readable storage medium. Background In the operation of an archway truck vehicle (e.g., urban rail or subway), wheel-rail forces directly affect vehicle stability, rail wear, and passenger comfort, and accurate monitoring of wheel-rail forces is therefore critical. The traditional wheel-rail force measurement method needs to rely on a force-measuring wheel set or a dynamic model for inversion, as shown in fig. 1, a strain gauge is stuck to a specific position of a spoke/axle, the wheel-rail force acts on the wheel set to generate Q-direction strain (transverse strain), L-direction strain (vertical strain) and total strain, the strain gauge converts a strain signal into an electric signal, and the dynamic model is combined, and a quantitative relation between the strain and the wheel-rail vertical/transverse force is established through bridge combination design, signal decoupling and calibration, so that the wheel-rail acting force is obtained. The force measuring wheel set adopted by the method needs to be customized and improved, equipment cost can be increased, the sensor is easy to be impacted and damaged, frequent calibration is needed, and the sensor is difficult to adapt to different vehicle types and cannot be deployed for a long time. Meanwhile, the dynamic model is complex in calculation and poor in real-time performance. Therefore, there is a need for improvement in the conventional vehicle running stability evaluation method. Disclosure of Invention The application aims to provide a vehicle stability assessment method and device, electronic equipment and a readable storage medium, so as to solve the problems of high vehicle running stability assessment cost and poor instantaneity in the prior art. In a first aspect of an embodiment of the present application, there is provided a vehicle stability evaluation method, including: Acquiring acceleration of a bogie frame of a vehicle in a designated direction, wherein the designated direction is vertical and/or transverse; Obtaining a wheel track force estimated value in a specified direction based on a first mapping relation constructed in advance and the acceleration in the specified direction; And evaluating the running stability of the vehicle based on the wheel track force estimated value in the specified direction. In a second aspect of the embodiment of the present application, there is provided a vehicle stability evaluation apparatus including: the acceleration acquisition module is used for acquiring the acceleration of the bogie frame of the vehicle in a designated direction, wherein the designated direction is vertical and/or transverse; the wheel-rail force estimation module is used for obtaining a wheel-rail force estimation value in a specified direction based on a first mapping relation constructed in advance and the acceleration in the specified direction; And the stability evaluation module is used for evaluating the running stability of the vehicle based on the wheel track force estimated value in the specified direction. In a third aspect of the embodiments of the present application, there is provided an electronic device including a memory, a processor, and a computer program stored in the memory and running on the processor, the steps of the vehicle stability evaluation method being implemented when the processor executes the computer program. In a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the vehicle stability evaluation method described above. The vehicle stability evaluation method and device, the electronic equipment and the readable storage medium provided by the embodiment of the application have the beneficial effects that: According to the embodiment of the application, the wheel-rail force estimated value in the specified direction can be obtained by detecting the acceleration of the bogie frame of the vehicle in the specified direction only through the acceleration sensor on the basis of the pre-constructed first mapping relation without depending on the force-measuring wheel pair or the complex dynamic model, and the running stability of the vehicle is further evaluated based on the wheel-rail force estimated value. Therefore, by adopting the method provided by the embodiment of the application, the problems of high cost and poor instantaneity caused by a force measuring wheel set or a dynamic model in the traditional measuring method can be avoided. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings tha