CN-122021099-A - Intelligent operation digital twin modeling method and system for urban rail vehicle pantograph device

CN122021099ACN 122021099 ACN122021099 ACN 122021099ACN-122021099-A

Abstract

The invention belongs to the technical field of urban rail vehicle operation and maintenance intellectualization, and discloses an intelligent operation and maintenance digital twin modeling method and system for an urban rail vehicle pantograph device. The method comprises the steps of establishing a geometrical physical model of a pantograph device based on physical characteristics and actual working conditions of the pantograph device, referring to related parameters, establishing a pantograph-catenary system electromechanical coupling dynamics model of a urban rail vehicle, establishing a pantograph-catenary system behavior model of the urban rail vehicle, associating multi-model data, establishing a twin database aiming at a specific real-time operation and maintenance scene of the pantograph-catenary system of the urban rail vehicle, carrying out data visualization processing, and displaying operation and maintenance results. The invention strengthens the real-time interactivity in the operation and maintenance operation of the pantograph-catenary system, is beneficial to the timely and effective real-time monitoring, intelligent diagnosis and predictive maintenance of the device by the staff, thereby obviously enhancing the operation reliability of the pantograph and catenary equipment.

Inventors

WANG TAIYONG
SUN CHAO
ZHENG MINGLIANG
TIAN YING

Assignees

天津大学

Dates

Publication Date: 20260512
Application Date: 20251208

Claims (10)

1. An intelligent operation digital twin modeling method of a pantograph device of an urban rail vehicle is characterized by comprising the following steps: S1, establishing a geometrical physical model of the pantograph device based on physical characteristics and actual working conditions of the urban rail pantograph device; s2, constructing a pantograph-catenary system electromechanical coupling dynamics model of the urban rail vehicle according to the established geometrical and physical model of the pantograph device and referring to related parameters; S3, constructing a pantograph-catenary system behavior model of the urban rail vehicle based on the constructed pantograph-catenary system electromechanical coupling dynamics model of the urban rail vehicle, and associating multi-model data; S4, constructing a twin database aiming at a specific real-time operation and maintenance scene of a pantograph-catenary system of the urban rail vehicle, carrying out data visualization processing, and displaying operation and maintenance results, supporting storage and processing of multi-source heterogeneous data based on cloud-edge cooperative architecture, and forming a closed loop from data perception to decision support through parameter curve display, three-dimensional dynamic display and fault early warning pushing in the data visualization processing, so that the transition from passive maintenance to active prediction is realized.
2. The intelligent operational digital twin modeling method of an urban rail vehicle pantograph device according to claim 1, wherein in step S1, based on physical characteristics and actual conditions of the urban rail pantograph device, establishing a geometric physical model of the pantograph device includes: S11, simplifying the structure of the pantograph assembly into a base (1), a lower arm rod (2), a pull rod (3), a balance rod (4), an upper frame (5) and a pantograph head (6); S12, defining the shape, size, structure and relative constraint relation of each part in three-dimensional modeling software Solidworks, and modeling and assembling each part to obtain a multi-rigid-body physical model of a pantograph device of the urban rail vehicle; The multi-rigid-body physical model of the pantograph device comprises a lower arm rod (2), a compression cylinder rod (8), a lower cross rod (10), a pull rod (3), a balancing rod (4) and a bow head fixing rod (9), wherein the bottom end of the lower arm rod (2) is hinged and fixed on a base (1), the lower part of the lower arm rod (2) is connected with the front end of the compression cylinder rod (8) through a rotatable structure (7), the rear end of the compression cylinder rod (8) is fixed on the base (1), the upper part of the lower arm rod (2) is hinged and fixed on the middle part of a lower cross rod (10) of an upper frame (5), the bottom of the pull rod (3) is hinged and fixed on the rear end of the balancing rod (4), the bottom end of the balancing rod (4) is hinged and fixed on the lower cross rod (10) of the upper frame (5), the bow head fixing rod (9) of the bow head (6) is hinged and fixed on the two ends of the upper cross rod (11) of the upper frame (5) through a rotatable part (12).
3. The intelligent operational digital twin modeling method of a urban rail vehicle pantograph device according to claim 1, wherein in step S2, referring to the relevant parameters, constructing a pantograph-catenary system electromechanical coupling dynamics model of the urban rail vehicle, comprises: S21, establishing a dynamic model of the pantograph device in a multi-body dynamics analysis software platform Simpack; S22, establishing a contact net model in an Ansys platform, and leading the contact net model into Simpack to generate a contact net elastomer; S23, referring to related input and output parameter items, carrying out dynamic simulation analysis on a pantograph-catenary system electromechanical coupling dynamic model of the urban rail vehicle; the related parameters are overhead contact system structure parameters, pantograph operation parameters and train operation parameters.
4. The intelligent operation digital twin modeling method of the urban rail vehicle pantograph device according to claim 3, wherein in the step S21, a dynamic model of the pantograph device is established, wherein a geometric physical model of the pantograph device is a basis of a rigid-flexible coupling model; The upper frame (5) and the bow head (6) with relatively large deformation are used as flexible bodies, the part with small residual deformation is regarded as a rigid body, and the dynamic balance equation of the rigid-flexible coupling pantograph upper frame is as follows: ; In the formula, For the quality matrix of the upper frame, Is a damping matrix for the upper frame and, For the stiffness matrix of the upper frame, Respectively the displacement, the speed and the acceleration of the node, Is the load of the upper frame; in step S22, a contact net model is built in an Ansys platform, and a contact net elastomer is generated in the lead-in Simpack, wherein the contact net model is built by utilizing a finite element method, and vibration analysis and substructure analysis are carried out to obtain a quality matrix and a rigidity matrix of the contact net; The dynamic differential equation of the catenary model established by the finite element method is as follows: ; In the formula, Is a quality matrix of the contact net, Is a damping matrix of the contact net, Is the rigidity matrix of the contact net, Respectively vertical displacement, speed and acceleration of the contact net, Is that Moment bow net contact pressure; and for the contact pressure between the pantograph devices and the catenaries, coupling the pantograph devices and the catenaries by using a penalty function to obtain effective representation of the moving contact pressure of the pantograph networks, wherein the contact pressure between the pantograph networks is obtained by introducing the SID file generated in the Ansys platform into Simpack after the SID file is generated by a FEMBS module: ; In the formula, For the dynamic contact pressure of the bow net, For the displacement of the contact point on the contact line, For the displacement of the bow contact point, The rigidity of the contact net is; The method is realized in a contact unit mode, when no penetration occurs between the bow head and the contact area of the contact line, the contact pressure is 0, and if the penetration occurs, the contact pressure is obtained according to the displacement and the calculated rigidity of the bow net contact point.
5. The intelligent operational digital twin modeling method of a urban rail vehicle pantograph device according to claim 1, wherein in step S3, a pantograph-catenary system behavior model of the urban rail vehicle is constructed and multi-model data are associated, comprising: s31, constructing a behavior model of a pantograph-catenary system in a three-dimensional simulation and virtual debugging platform; S32, establishing a communication connection mechanism of the Simpack end and the virtual platform end, realizing data communication between the two ports, and carrying out collaborative simulation and operation test; S33, management and association analysis of multi-model data are carried out, and effective digital twin application is achieved.
6. The intelligent operational digital twin modeling method of urban rail vehicle pantograph device according to claim 5, wherein in step S31, in the three-dimensional simulation and virtual debugging platform, a behavior model of a pantograph-catenary system is constructed, comprising: based on the established multi-rigid body physical model of the pantograph device of the urban rail vehicle and the established electromechanical coupling dynamics model of the pantograph-catenary system of the urban rail vehicle, a behavior model of the pantograph-catenary system is established in the virtual platform, and the behavior model comprises elements such as pantograph lifting control logic, a pantograph-catenary contact quality real-time judging model, an abnormal working condition response strategy and the like, so that the digitalized mapping of the system operation behavior is realized; The pantograph lifting control logic adopts a pantograph lifting control finite state machine model, and defines a system state set as follows: ; In the formula, The system is a state set of a pantograph system and comprises a pantograph descending state, a pantograph ascending state, a working state and an emergency pantograph descending state; The state transition is then triggered by a set of input events, expressed as: ; defining a state transfer function, and defining the dynamic behavior of the system: ; then there are: ; ; ; The bow net contact quality real-time judging model comprises the following steps: real-time bow-net contact force based on input from electromechanical coupling dynamics model of pantograph-catenary system Performing online evaluation on the current receiving quality by using a behavior model of a pantograph-catenary system; Offline event detection when Duration of (2) Exceeding a threshold value When it is judged that an offline event occurs, it is set For the total duration, the total offline rate The calculation is as follows: ; calculation of the contact force yield by defining the contact force to be within the ideal range Probability of inside To evaluate the index: ; In the formula, For evaluating the time window, the method is used for intuitively reflecting the stability of the current quality; The time is the integral variable in the integral formula of the real-time evaluation model of the contact quality of the bow net; To indicate a function.
7. The intelligent operation digital twin modeling method of the urban rail vehicle pantograph device according to claim 5 is characterized in that in step S32, a communication connection mechanism of Simpack ends and virtual platform ends is established, data communication between the two ports is realized, and collaborative simulation and operation test are performed, including that a real-time data channel between Simpack and the virtual platform is established through TCP/IP protocol, and bidirectional interaction between dynamic simulation data and a behavior model is realized; establishing Simpack a real-time data path between the virtual platform includes: (1) The communication protocol and the data package are designed, the TCP/IP protocol is adopted, socket connection is established between Simpack and the virtual platform, and each simulation step length is adopted At the end, the dynamic data packet is encapsulated and sent by Simpack : ; In the formula, The dynamic simulation data packet is Simpack packaged and sent and comprises simulation time, bow net contact force, displacement, speed, acceleration, state marks and other information; for the purpose of the simulation time it is, For the contact force of the bow net, The displacement, the speed and the acceleration of the bow head of the pantograph are respectively; (2) Behavioral feedback and control when the virtual debug platform receives Then, calculating the behavior model of the pantograph-catenary system according to preset rules, wherein the preset rules comprise that when continuous detection is carried out And the duration exceeds a threshold value, the behavior model of the pantograph-catenary system generates a contact force shortage event which is recorded as And feeding back Simpack the event, based on which Simpack platform adjusts internal damping parameters Or stiffness parameter Closed loop simulation of behavior-dynamics is achieved.
8. The intelligent operational digital twin modeling method of an urban rail vehicle pantograph device according to claim 5, wherein in step S33, management and association analysis of multi-model data is performed, and effective digital twin application is implemented, comprising: (1) Unified spatio-temporal indexing and data fusion to build time-stamped data for all data from different platforms And device space coordinates For sensor data and simulation data with different sampling rates, adopting a method based on linear interpolation or spline interpolation to align the data, and at the same time reference And performing association analysis, wherein the expression is as follows: ; In the formula, To be at the time stamp reference The lower multi-model data vector is used, Respectively geometric, dynamic and behavioral models Is used to determine the attribute vector of (1), Is vector transposition; (2) Based on feature mining of association rules, adopting algorithms such as Apriori and the like to mine strong association rules between dynamic parameters and behavior indexes under different working conditions, wherein the strong association rules comprise discovery rules: ; such rules are used to pre-judge system risk under specific conditions; (3) The twin data is served, and the processed multi-model fusion data, health assessment results and association rules are provided for upper-layer operation and maintenance application to realize the utilization of the digital twin data by packaging the twin data into RESTful-API.
9. The intelligent operation and dimension digital twin modeling method of a pantograph device of an urban rail vehicle according to claim 1, wherein in step S4, for a specific real-time operation and dimension scene of a pantograph-catenary system of the urban rail vehicle, constructing a twin database and performing data visualization processing, comprising: S41, constructing a twin database of a pantograph-catenary system, and integrating a historical database, an operation and maintenance knowledge base, a model base and a real-time twin database; Constructing a twin database supporting multi-source heterogeneous data storage based on a cloud-edge cooperative framework, wherein the history database stores historical operation data, maintenance records and fault cases of a pantograph, and the operation and maintenance knowledge base integrates knowledge such as expert rules, fault trees and maintenance strategies; S42, utilizing a Python and a visual database to carry out visual development on twin data, acquiring a visual man-machine interaction interface based on the twin database of a pantograph-catenary system, and displaying key parameter curves of pantograph displacement, pantograph-catenary contact force and vibration frequency spectrum in real time, and displaying the relative position and contact state of the pantograph and the catenary in a three-dimensional dynamic manner; S43, high-efficiency processing and visual rendering of data are achieved through cloud-edge collaborative architecture, wherein cloud end is utilized for large data analysis and model training, edge end is responsible for real-time data acquisition and light-weight reasoning, and cloud end is responsible for transfer and collaborative tasks.
10. An intelligent operational digital twin modeling system for an urban rail vehicle pantograph device, wherein the intelligent operational digital twin modeling method for an urban rail vehicle pantograph device according to any one of claims 1 is implemented, the system comprising: The geometrical physical model building module is used for building a geometrical physical model of the pantograph device based on physical characteristics and actual working conditions of the urban rail pantograph device; the pantograph-catenary system electromechanical coupling dynamics model building module is used for building a pantograph-catenary system electromechanical coupling dynamics model of the urban rail vehicle according to the built geometrical physical model of the pantograph device and referring to related parameters; the pantograph-catenary system behavior model construction module is used for constructing a pantograph-catenary system behavior model of the urban rail vehicle based on the constructed pantograph-catenary system electromechanical coupling dynamics model of the urban rail vehicle and correlating the system behavior model with multi-model data; The system comprises a twin database building and displaying module, wherein the twin database building and displaying module is used for building a twin database and carrying out data visualization processing and displaying operation and maintenance results aiming at a specific real-time operation and maintenance scene of a pantograph-catenary system of a urban rail vehicle, the storage and processing of multi-source heterogeneous data are supported based on cloud and cloud edge collaborative architecture, and the data visualization processing forms a closed loop from data perception to decision support through parameter curve display, three-dimensional dynamic display and fault early warning pushing, so that the transition from passive maintenance to active prediction is realized.

Description

Intelligent operation digital twin modeling method and system for urban rail vehicle pantograph device Technical Field The invention belongs to the technical field of urban rail vehicle operation and maintenance intellectualization, and particularly relates to an intelligent operation and maintenance digital twin modeling method and system for an urban rail vehicle pantograph device. Background The construction of the urban rail transit system is the best choice for effectively relieving the urban traffic conditions of large and medium cities and solving the commute problem between urban areas and suburban areas. The pantograph device of urban rail vehicle is a key device for contacting with wire net to obtain electric energy required by running of train in running process. Therefore, the effective modeling and analysis of the pantograph device are necessary measures for maintaining the urban rail vehicle system to ensure that the urban rail vehicle system runs well. Digital twinning (DIGITAL TWIN) technology is a technology which has been raised in recent years, and by combining a physical entity with a digital virtual model thereof, high-level simulation and real-time monitoring of the physical entity are realized. Under the drive of digital twin technology, the urban rail transit system can compare and optimize the operation condition with the virtual model by collecting, transmitting and analyzing a large amount of data in real time, thereby effectively improving the operation efficiency of the system and reducing the maintenance cost of the system. The existing operation and maintenance system of the pantograph device of the urban rail vehicle is more considered to adopt a traditional operation mode, namely, analysis and maintenance are carried out in a relatively static environment based on equipment historical operation data in a database during the period that equipment is in shutdown and trimming, so that the mode lacks real-time interactivity, feedback flexibility is insufficient, adjustment is difficult to be carried out in time according to the change of an operation state, and the stored historical data is limited by hardware conditions, so that timeliness and data reliability are also obviously weakened, and a more ideal maintenance effect is difficult to achieve. Disclosure of Invention In order to solve the problems of operation and maintenance conditions of the urban rail pantograph device in the related art, the invention provides an intelligent operation and maintenance digital twin modeling method and system of the urban rail vehicle pantograph device based on a digital twin technology. The invention aims to solve the problem that the maintenance effect is not ideal due to the lack of real-time data interaction in the running process of the pantograph device of the urban rail vehicle. The intelligent operation digital twin modeling method of the urban rail vehicle pantograph device comprises the following steps of: S1, establishing a geometrical physical model of the pantograph device based on physical characteristics and actual working conditions of the urban rail pantograph device; s2, constructing a pantograph-catenary system electromechanical coupling dynamics model of the urban rail vehicle according to the established geometrical and physical model of the pantograph device and referring to related parameters; S3, constructing a pantograph-catenary system behavior model of the urban rail vehicle based on the constructed pantograph-catenary system electromechanical coupling dynamics model of the urban rail vehicle, and associating multi-model data; S4, constructing a twin database aiming at a specific real-time operation and maintenance scene of a pantograph-catenary system of the urban rail vehicle, carrying out data visualization processing, and displaying operation and maintenance results, supporting storage and processing of multi-source heterogeneous data based on cloud-edge cooperative architecture, and forming a closed loop from data perception to decision support through parameter curve display, three-dimensional dynamic display and fault early warning pushing in the data visualization processing, so that the transition from passive maintenance to active prediction is realized. In the step S1, a geometrical physical model of the pantograph device is built based on physical characteristics and actual working conditions of the urban rail pantograph device, and the geometrical physical model comprises S11, simplifying the structure of a pantograph assembly into a base, a lower arm rod, a pull rod, a balance rod, an upper frame and a pantograph head, S12, defining the shape, size, structure and relative constraint relation of all parts in three-dimensional modeling software Solidworks, modeling and assembling all parts to obtain a multi-rigid-body physical model of the pantograph device of the urban rail vehicle, wherein the multi-rigid-body physical model of the pantograph devic