CN-122013609-A - Automatic control method and system for railway track lifting device based on state feedback closed loop

CN122013609ACN 122013609 ACN122013609 ACN 122013609ACN-122013609-A

Abstract

The application discloses an automatic control method and an automatic control system for a railway track lifting device based on a state feedback closed loop, and relates to the field of automatic control. The method relies on a controller to generate an operation target by combining line parameters, drives two side track lifting cylinders to extend, confirms pre-tightening in place by utilizing an oil pressure closed loop, locks an ultrahigh track, drives a reference track cylinder to extend, calculates actual track lifting height in real time by utilizing a transverse angle fed back by an inclination angle sensor, performs closed loop control until reaching the target track lifting amount, then performs follow control by utilizing a transverse ultrahigh value fed back by the inclination angle sensor until being consistent with the target ultrahigh amount, and finally resets automatically. The application cancels the traditional pull wire sensor and realizes the low-cost and high-reliability automatic control of the track lifting operation through the full-inclination angle data fusion algorithm.

Inventors

LAN MIN
DUAN RONG

Assignees

宁波国铭中天传感技术有限公司

Dates

Publication Date: 20260512
Application Date: 20260210

Claims (10)

1. The method is characterized by being applied to a control system comprising a controller, a track lifting oil cylinder, an oil pressure sensor, an inclination angle sensor, a foot switch and a man-machine interaction interface, and comprises the following steps of: The method comprises the steps that firstly, a controller receives line curve parameters and set track lifting quantity input by a user, and calculates a theoretical ultrahigh value of a current operation point by combining sensor data acquired in real time, and generates an operation target instruction comprising a target track lifting quantity and a target ultrahigh quantity; The controller responds to the track lifting starting signal, reads the operation target instruction and drives the left track lifting oil cylinder and the right track lifting oil cylinder to extend; when the pressure values of the cylinders at the two sides are monitored to reach a preset oil pressure set value, judging that the end part of the cylinder rod is propped against the railway ballast, generating a pre-tightening in-place signal by the controller and transmitting the pre-tightening in-place signal to the next step; The controller receives the pre-tightening in-place signal, locks the oil cylinder state at the ultrahigh rail side and drives the track lifting oil cylinder at the reference rail side to extend continuously, in the extending process, collects the longitudinal inclination angle change value fed back by the inclination angle sensor in real time, solves the transverse inclination angle change value into an actual track lifting amount based on the preset mechanical arm length parameter of the track lifting device, compares the actual track lifting amount with a target track lifting amount in the operation target instruction, cuts off the control signal of the oil cylinder at the reference rail side to enable the control signal to be in a pressure maintaining state when the actual track lifting amount reaches the target track lifting amount, and generates a reference track lifting completion signal to be transmitted to the next step; The controller receives the reference track lifting completion signal and drives a track lifting oil cylinder on one side of the ultrahigh track to extend, and in the extending process, the controller collects an actual ultrahigh value fed back by the inclination sensor in real time and compares the actual ultrahigh value with a target ultrahigh value in the operation target instruction; and fifthly, after receiving a tamping completion instruction or a pedal loosening signal, the controller responds to the release of the track lifting operation ending maintaining signal to drive the left track lifting oil cylinder and the right track lifting oil cylinder to retract synchronously, and stops driving after reaching a preset delay time to finish resetting.
2. The method according to claim 1, wherein the step one is preceded by a mileage synchronization and parameter initialization step in which the controller receives a synchronization point kilometer post value inputted by a user through a man-machine interface, locks a current physical position as a starting point of line calculation in response to a synchronization button signal triggered by the user when an auxiliary wheel of the track lifting device reaches the synchronization point position on the physical line, and automatically calculates a line geometric state including a straight line, a relaxed curve or a circular curve state in which the current operation point is located according to the line curve parameter and the current physical position by the controller, and inputs the state as basic data for generating the operation target instruction to the step one.
3. The method according to claim 1, wherein in the first step, the process of generating the operation target command further includes manual compensation correction logic, wherein the controller detects a rotation angle signal of the ultra-high compensation knob in real time, converts the rotation angle signal into an ultra-high compensation value, the controller performs superposition operation on the ultra-high compensation value and a theoretical ultra-high value calculated according to a line curve parameter to obtain a corrected target ultra-high amount, and the controller updates the corrected target ultra-high amount into the operation target command as a comparison reference for the ultra-high rail level following control in the fourth step.
4. The method according to claim 1, wherein in the second step, the generation logic of the pre-tightening in-place signal specifically includes a controller executing a left pressure monitoring subroutine and a right pressure monitoring subroutine in parallel, the left pressure monitoring subroutine judging that if a left cylinder pressure value is greater than or equal to an oil pressure set value, a left top in-place indicator on an interface is turned on and a left state is marked as ready, the right pressure monitoring subroutine judging that if a right cylinder pressure value is greater than or equal to the oil pressure set value, a right top in-place indicator on the interface is turned on and a right state is marked as ready, and the controller executing a logical AND operation, outputting the pre-tightening in-place signal only when the left state and the right state are simultaneously marked as ready, thereby triggering the execution of the third step.
5. The method according to claim 1, wherein in the third step, the determining and controlling logic of the reference rail is that the controller reads the ultrahigh direction data in the line curve parameter, identifies the ultrahigh rail as a left rail or a right rail, the controller sets a rail on the side opposite to the ultrahigh rail as the reference rail, and after receiving the pre-tightening in-place signal, the controller sends an opening signal to only an oil cylinder solenoid valve on one side of the reference rail, and keeps the oil cylinder solenoid valve on one side of the ultrahigh rail in a closed state until the reference track lifting completion signal is generated.
6. The method according to claim 1, wherein in the fourth step, the specific implementation process of the step of superelevation track level following control is that the controller starts a data acquisition cycle of the inclination sensor by taking the reference track lifting completion signal as a trigger condition, calculates a difference between an actual superelevation value and a target superelevation amount, outputs a driving signal to control the action of the superelevation track cylinder if the difference exceeds an allowable range, monitors a reading of a level meter on an operation interface in real time, and determines that leveling is finished and outputs the track lifting operation end maintaining signal when the reading of the level meter is monitored to return to zero and the actual superelevation value is equal to the target superelevation amount.
7. The method according to claim 1, wherein in the step five, specific control logic of the automatic retraction reset step is that a controller monitors the level state of a track lifting foot switch in real time, when the track lifting foot switch is detected to be turned from on to off, the controller recognizes that the track lifting foot switch is a retraction command, the controller simultaneously sends energizing signals to a left track lifting oil cylinder retraction solenoid valve and a right track lifting oil cylinder retraction solenoid valve, the controller starts an internal timer while sending the energizing signals, and when the count value of the timer reaches a preset retraction delay time threshold, the energizing signals of the left track lifting oil cylinder retraction solenoid valve and the right track lifting oil cylinder retraction solenoid valve are automatically disconnected.
8. An automatic control system for a railway track-lifting device based on a state feedback closed loop, said system being adapted to perform the method according to any one of claims 1 to 8, The generation module is used for receiving line curve parameters and set track lifting quantity input by a user, calculating a theoretical ultrahigh value of a current operation point by combining sensor data acquired in real time, and generating an operation target instruction comprising a target track lifting quantity and a target ultrahigh quantity; The system comprises a first processing module, a controller, a pre-tightening signal generation module and a pre-tightening signal generation module, wherein the first processing module is used for responding to a track lifting starting signal by the controller, reading the operation target instruction and simultaneously driving a left track lifting oil cylinder and a right track lifting oil cylinder to extend; The second processing module is used for locking the oil cylinder state at one side of the ultrahigh rail after the controller receives the pre-tightening in-place signal and driving the track lifting oil cylinder at one side of the reference rail to extend continuously; in the extending process, a controller collects a transverse inclination angle change value fed back by an inclination angle sensor in real time, calculates the transverse inclination angle change value into an actual track lifting quantity based on a preset mechanical arm length parameter of a track lifting device, and compares the actual track lifting quantity with a target track lifting quantity in an operation target instruction; the controller is used for receiving the reference track lifting completion signal, driving the track lifting oil cylinder at one side of the ultrahigh track to extend, collecting an actual ultrahigh value fed back by the inclination sensor in real time in the extending process, and comparing the actual ultrahigh value with a target ultrahigh value in the operation target instruction; and the reset module is used for responding to the release of the track lifting operation ending maintaining signal after receiving the tamping completion instruction or the pedal loosening signal, driving the left track lifting oil cylinder and the right track lifting oil cylinder to synchronously retract, stopping driving after reaching the preset delay time and finishing reset.
9. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps in the method for automatically controlling a railway track lifting device based on a state feedback closed loop as claimed in any one of claims 1 to 7.
10. A readable storage medium, characterized in that it stores a program adapted to be loaded by a processor to perform the steps of the method for automatically controlling a railway track lifting device based on a state feedback closed loop as claimed in any one of claims 1 to 7.

Description

Automatic control method and system for railway track lifting device based on state feedback closed loop Technical Field The application relates to the field of automatic control, in particular to a method and a system for automatically controlling a railway track lifting device based on a state feedback closed loop. Background When the railway working section is subjected to on-site line maintenance construction, an operation mode mainly comprising small-machine operation is widely adopted, wherein a door type track jack is core equipment for track jack, and the equipment drives a track to lift through a hydraulic cylinder, so that geometrical parameters of the track are corrected, the height and the level of the track are adjusted, so that irregularity of the line is eliminated, and the safety and stability of train operation are ensured. However, the existing gate track lifting machine has the remarkable problems of low automation degree, dependence on manual experience and the like in actual operation, the current track lifting quantity measurement and horizontal measurement mainly depend on manual use of a scale and a track gauge for field visual inspection, and the data acquisition lacks real-time performance and accuracy. In order to overcome the defects of low efficiency, high labor intensity and difficult guarantee of precision of the traditional manual track lifting operation, an intelligent track lifting control scheme is urgently needed to be developed, the detection devices such as an inclination sensor and an oil pressure sensor are introduced to replace manual measurement, automatic calculation and closed-loop control of track lifting quantity and horizontal superelevation are realized by utilizing a controller, and accordingly automation and precision of track lifting operation are realized, and the intelligent track lifting control scheme becomes a technical problem which is urgently needed to be solved in the field of the current railway track maintenance machinery. Disclosure of Invention The application aims to solve one of the technical problems in the related art at least to a certain extent, and therefore, one aim of the application is to provide an automatic control method and an automatic control system for a railway track lifting device based on a state feedback closed loop. The application provides an automatic control method of a railway track lifting device based on a state feedback closed loop, which is applied to a control system comprising a controller, a track lifting oil cylinder, an oil pressure sensor, an inclination angle sensor and a human-computer interaction interface, and comprises the following steps: The method comprises the steps that firstly, a controller receives line curve parameters and set track lifting quantity input by a user, and calculates a theoretical ultrahigh value of a current operation point by combining sensor data acquired in real time, and generates an operation target instruction comprising a target track lifting quantity and a target ultrahigh quantity; The controller responds to the track lifting starting signal, reads the operation target instruction and drives the left track lifting oil cylinder and the right track lifting oil cylinder to extend; when the pressure values of the cylinders at the two sides are monitored to reach a preset oil pressure set value, judging that the end part of the cylinder rod is propped against the railway ballast, generating a pre-tightening in-place signal by the controller and transmitting the pre-tightening in-place signal to the next step; The controller receives the pre-tightening in-place signal, locks the oil cylinder state at the ultrahigh rail side and drives the track lifting oil cylinder at the reference rail side to extend continuously, in the extending process, collects the transverse inclination angle change value fed back by the inclination angle sensor in real time, solves the transverse inclination angle change value into an actual track lifting amount based on the preset mechanical arm length parameter of the track lifting device, compares the actual track lifting amount with a target track lifting amount in the operation target instruction, cuts off the control signal of the oil cylinder at the reference rail side to enable the control signal to be in a pressure maintaining state when the actual track lifting amount reaches the target track lifting amount, and generates a reference track lifting completion signal to be transmitted to the next step; The controller receives the reference track lifting completion signal and drives a track lifting oil cylinder on one side of the ultrahigh track to extend, and in the extending process, the controller collects an actual ultrahigh value fed back by the inclination sensor in real time and compares the actual ultrahigh value with a target ultrahigh value in the operation target instruction; and fifthly, after receiving a tamping completion instruction