非接触式接触网几何参数检测系统研究
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摘要
随着我国电气化铁路事业的飞速发展,城市轨道交通及大铁路对高速接触网动态特性的要求日益提高。由于高速动态检测所获得的参数与中低速有较大差别,前者更能反映列车高速运行的实际、也更具参考价值,从而使得不断开发、应用更先进的高速动态接触网检测技术以实现对铁路运行质量的评判研究受到越来越多的重视。
本文在研究国内外现有接触网检测方法的基础上,针对目前接触网几何参数检测中存在的问题与不足,提出了利用由二维激光雷达对视距内障碍物所产生的轮廓曲线加以目标识别、运动跟踪以达到获得接触网几何参数目的的非接触式检测方案。这样,由于检测实现的非接触性,此测试系统就能同时具有两种工作模式:其一是动态参数测试模式,即在检测车的模拟受电弓与接触网实际接触的条件下进行测量;由于激光雷达装置安装于车体顶部,检测车模拟受电弓除自身重量外,不受其它附加质量的影响,因而可以保持良好的动态跟随特性,使检测数据非常接近列车实际运行时的状况。其二是静态参数测试模式,即在无需模拟受电弓和接触线接触的情况下进行接触网参数的测量;此状况下,接触线不会产生由受电弓压力引起的抬升和振动,完全处于自然状态,所以此时测得的参数基本接近静态值。此外,两种状态下的测量数据除了能够分别独立应用于动态品质研究或静态检修维护外,还可进行综合对比,以便为动态品质的分析研究提供更加直观、可靠的基础。
本文方案实现大体过程如下:首先对系统的硬件设备进行了选型及功能设定,即采用了基于光束飞行时间测距原理的高频激光雷达作为数据采集单元,接口丰富、数据处理能力强大的嵌入式电脑作为前端处理器,稳定可靠的工控机作为数显、运算、输出及交互终端;出于实时性及灵活接口的考虑,设计了基于上述硬件设备的多种连接方式。随后,针对检测原理、误差影响因素、数据有效性控制方法,及不同安装方式对检测结果的利弊影响等分别进行了讨论;针对测得的检测参数,采用并比较了几种常用的数字滤波器。此外,以软件工程思想为指导,软件工程技术为依托,对系统检测软件进行了分析、设计与实现;经现场测试,及与接触式检测结果的对比,验证了本设计方案的合理性与可行性。
With the rapid development of our country's railway undertakings, the requirements of OCS(overhead contact system)'s dynamic characteristics for urban rail transit and national railway have been greatly increased. Since there is obvious distinction between the parameters detected at high speed and at low or medium speed, considering that the former is more truthfulness to reflect the actual condition and deserves more reference, it gets more and more attention to adopt more advanced high-speed dynamic OCS detection technology used for researching and evaluating the running quality of railway consequently.
In view of the defect and deficiency of current OCS geometric parameters' inspection methods, this dissertation presents a non-contact detection scheme to gain the parameters by object-identification and motion-track according to the contour curve obtained from the 2-dimentional laser radar when the OCS is within its range on the basis of studying various OCS inspection approaches domestic and overseas. Thus, for the non-contact testability of the measure, the inspection system is able to work in 2 modes: one is dynamic parameters detection mode, namely gaining parameters when simulation pantograph rises, which is close to the train's actual working condition because the pantograph can hold good following characteristic owing to the installation of laser radar on the top of locomotive induducing no extra mass; the other is static parameters detection mode, namely obtaining parameters without pantogragh-catenary contact, which is close to the parameter's static value by and large for the OCS is nearly on natural ground and introduced no extra lift and vibration by the contact force of pantograph. Besides the independent use of the two modes above in dynamic quality research and ordinary maitenance, we can combine with them so as to provide more intuitionistic and reliable analytical basis for the further research of dynamic quality.
In this paper, laser radar based on distance-measurement theory of light flying time is used as data acquisition unit, embedded computer with prolific interfaces and strong data-processing capacity is used as front-end processor, and IPC with stable and reliable performance is used as graphic user interface, data processing module and output terminal; Afterwards, several connection modes are designed on account of real-timing and flexible porting requirements; Then, detection principle, error influence factors, data effectiveness control strategy, and pro and cons of the different laser radar's installation ways on the detection results, are discussed respectively in detail; Subsequently, some kinds of familiar digital filters are adopted comparatively for the parameters; Besides, the course of analysis, design and realization of the system's application software is also set forth under the ideological guidance and with the technological support of software engineering. Moreover, the feasibility and rationality of the scheme are verified by practical use and comparative analysis with the contact detection mode.
本文在研究国内外现有接触网检测方法的基础上,针对目前接触网几何参数检测中存在的问题与不足,提出了利用由二维激光雷达对视距内障碍物所产生的轮廓曲线加以目标识别、运动跟踪以达到获得接触网几何参数目的的非接触式检测方案。这样,由于检测实现的非接触性,此测试系统就能同时具有两种工作模式:其一是动态参数测试模式,即在检测车的模拟受电弓与接触网实际接触的条件下进行测量;由于激光雷达装置安装于车体顶部,检测车模拟受电弓除自身重量外,不受其它附加质量的影响,因而可以保持良好的动态跟随特性,使检测数据非常接近列车实际运行时的状况。其二是静态参数测试模式,即在无需模拟受电弓和接触线接触的情况下进行接触网参数的测量;此状况下,接触线不会产生由受电弓压力引起的抬升和振动,完全处于自然状态,所以此时测得的参数基本接近静态值。此外,两种状态下的测量数据除了能够分别独立应用于动态品质研究或静态检修维护外,还可进行综合对比,以便为动态品质的分析研究提供更加直观、可靠的基础。
本文方案实现大体过程如下:首先对系统的硬件设备进行了选型及功能设定,即采用了基于光束飞行时间测距原理的高频激光雷达作为数据采集单元,接口丰富、数据处理能力强大的嵌入式电脑作为前端处理器,稳定可靠的工控机作为数显、运算、输出及交互终端;出于实时性及灵活接口的考虑,设计了基于上述硬件设备的多种连接方式。随后,针对检测原理、误差影响因素、数据有效性控制方法,及不同安装方式对检测结果的利弊影响等分别进行了讨论;针对测得的检测参数,采用并比较了几种常用的数字滤波器。此外,以软件工程思想为指导,软件工程技术为依托,对系统检测软件进行了分析、设计与实现;经现场测试,及与接触式检测结果的对比,验证了本设计方案的合理性与可行性。
With the rapid development of our country's railway undertakings, the requirements of OCS(overhead contact system)'s dynamic characteristics for urban rail transit and national railway have been greatly increased. Since there is obvious distinction between the parameters detected at high speed and at low or medium speed, considering that the former is more truthfulness to reflect the actual condition and deserves more reference, it gets more and more attention to adopt more advanced high-speed dynamic OCS detection technology used for researching and evaluating the running quality of railway consequently.
In view of the defect and deficiency of current OCS geometric parameters' inspection methods, this dissertation presents a non-contact detection scheme to gain the parameters by object-identification and motion-track according to the contour curve obtained from the 2-dimentional laser radar when the OCS is within its range on the basis of studying various OCS inspection approaches domestic and overseas. Thus, for the non-contact testability of the measure, the inspection system is able to work in 2 modes: one is dynamic parameters detection mode, namely gaining parameters when simulation pantograph rises, which is close to the train's actual working condition because the pantograph can hold good following characteristic owing to the installation of laser radar on the top of locomotive induducing no extra mass; the other is static parameters detection mode, namely obtaining parameters without pantogragh-catenary contact, which is close to the parameter's static value by and large for the OCS is nearly on natural ground and introduced no extra lift and vibration by the contact force of pantograph. Besides the independent use of the two modes above in dynamic quality research and ordinary maitenance, we can combine with them so as to provide more intuitionistic and reliable analytical basis for the further research of dynamic quality.
In this paper, laser radar based on distance-measurement theory of light flying time is used as data acquisition unit, embedded computer with prolific interfaces and strong data-processing capacity is used as front-end processor, and IPC with stable and reliable performance is used as graphic user interface, data processing module and output terminal; Afterwards, several connection modes are designed on account of real-timing and flexible porting requirements; Then, detection principle, error influence factors, data effectiveness control strategy, and pro and cons of the different laser radar's installation ways on the detection results, are discussed respectively in detail; Subsequently, some kinds of familiar digital filters are adopted comparatively for the parameters; Besides, the course of analysis, design and realization of the system's application software is also set forth under the ideological guidance and with the technological support of software engineering. Moreover, the feasibility and rationality of the scheme are verified by practical use and comparative analysis with the contact detection mode.
引文
[1]于万聚.高速电气化铁路接触网.成都:西南交通大学出版社,2003
[2]Kieβling,Puschmann,Schmieder.电气化铁道接触网.中国电力出版社,2004:363.
[3]宋坤,刘锐宁.MFC程序开发参考大全.北京:人民邮电大学,2007.
[4]陈唐龙.高速铁路接触网检测若干关键技术研究.西南交通大学博士学位论文,2006.
[5]汪安民,程昱.DSP应用开发实用子程序.北京:人民邮电出版社,2005.
[6]徐士良.常用算法程序集.北京:清华大学出版社,2003.
[7]程佩青.数字信号处理教程.北京:清华大学出版社,2001.
[8]Wormley D.Dynamic Performance Characteristics of New Configuration Pantoguaph-Catenary System.Final Report DOT/OST,1984.
[9]Bachman,C.G.著.激光雷达系统与技术.北京:国防工业出版社,1982.
[10]戴永江.激光雷达原理=The principle of lidar.北京:国防工业出版社,2002.
[11]阎吉祥.环境监测激光雷达.北京:.科学出版社,2001.
[12]StimsonGeorge W.著,吴汉平译.机载雷达导论.北京:电子工业出版社,2005.
[13]#12
[14]廖明生,林晖.雷达干涉测量:原理与信号处理基础.北京:测绘出版社,2003.
[15]#12
[16]#12
[17]楼宇希.雷达精度分析.北京:国防工业出版社,1979.
[18]陈保辉.雷达目标反射特性.北京:国防工业出版社,1993.
[19]庄钊文等著.雷达极化信息处理及其应用.北京:国防工业出版社,1999.
[20]黄培康,殷红成,许小剑.雷达目标特性.北京:电子工业出版社,1992.
[21]马存宝主编.民机通信导航与雷达.西安:西北工业大学出版社,2004.
[22]Yo-Seob Lee,Soon-Ill Hong.A study on maintaining control of tension for a catenary's cable.Industrial Electronics,2001.Proceedings.ISIE 2001.IEEE International Symposium on Volume 1,12-16June 2001:581-585.
[23]Nugent F..The design,construction and operation of the overhead fixed equipment for the Queensland Railways main line electrification project.Main Line Railway Electrification,1989.,International Conference on 25-28 Set 1989:109-113.
[24]Brier R..Time domain modeling of catenary lightning protection systems:how to design effective lightning protection systems.Electromagnetic Compatibility,2001.EMC.2001 IEEE International Symposium on Volume 1,13-17 Aug.2001:564-567.
[25]#12
[26]斯科尔尼克M.I.主编,谢卓译.雷达手册.北京:国防工业出版社,1974.
[27]孙仲康.雷达数据数字处理.北京:国防工业出版社,1983.
[28]李连升.雷达伺服系统.北京:国防工业出版社,1983.
[29](美)巴顿D.K.著,陈方林.雷达系统分析.北京:国防工业出版社,1985.
[30]丁鹭飞等编.雷达系统.西安:西北电讯工程学院出版社,1984.
[31]蔡希尧.雷达系统概论.北京:科学出版社,1983.
[32](美)米切尔(Mitchell,R.L.)著,陈训达译.雷达系统模拟.北京:科 学出版社,1982.
[33]张直中.雷达信号的选择与处理.北京:国防工业出版社,1979.
[34]林茂庸等编.雷达信号理论.北京:国防工业出版社,1984.
[35]#12
[36]彭一之.雷达自动装置.北京:科学教育出版社,1961.
[37]戴树荪.数字技术在雷达中的应用.北京:国防工业出版社,1981.
[38]Motlis Y.,Keselman L.M..Enhanced analytical design method for overhead line conductors in nonlevel spans.Transmission and Distribution Conference,1996.Proceedings.,1996 IEEE 15-20 Sept.1996:359-365.
[39]Resta F.,Collina A.,Fossati F..Actively controlled pantograph:an application.Advanced Intelligent Mechatronics,2001.Proceedings.2001 IEEE/ASME International Conference on Volume 1,8-12 July 2001:243-248.
[40]Mandai T.,Shimizu M.,Harada S..Development of rigid conductor line for high-speed operation.Industrial Technology,2003 IEEE International Conference on Volume 1,10-12 Dec.2003:587-592.
[41]Hofler H.,Dambacher M.,Dimopoulos N.,Jetter V..Monitoring and inspecting overhead wires and supporting structures.Intelligent Vehicles Symposium,2004 IEEE 14-17 June 2004:512-517.
[42]Levant A.,Pisano A.,Usai,E..Output-feedback control of the contact-force in high-speed-train pantographs.Decision and Control,2001.Proceedings of the 40th IEEE Conference on Volume 2,4-7 Dec.2001:1831-1836.
[43]#12
[44]陶望平,王忠民.无线电技术和雷达.北京:科学教育出版社,1961.
[45](美)GookinDan著殷雷译.DOS傻瓜书.成都:电子科技大学出版社,1995.6.
[46]余勇编.DOS6.22从入门到精通.北京:清华大学出版社,1994.6.
[47]Phil Balma,Lesser,Robert.Comcurrent PC DOSsystem concepts and programming procedures.Englewood:Cliff Prentice-Hall,1986.
[48]Purdum,Jack J.,Libeskind,Shlomo.C Programming guide:Create your own DOS Commands.Indianapolis:Que Clorporation,1985.
[49]吕强,杨季文等编著.C语言实践(一)=C语言的DOS系统程序设计.北京:清华大学出版社,1994.12.
[50]周枫编译.BorlandC++3.0DOS和Windows编程技巧与实:上.北京:海洋出版社,1992.
[51]Kelley,AL.,Poh.,Ira.Turbo C:the essentials of C programming.California:The Benjamin/Cummings Publishing Company,1988.
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[55]蔡庆宇等著.相控阵雷达数据处理及其仿真技术.北京:国防工业出版社,1997.
[56]#12
[2]Kieβling,Puschmann,Schmieder.电气化铁道接触网.中国电力出版社,2004:363.
[3]宋坤,刘锐宁.MFC程序开发参考大全.北京:人民邮电大学,2007.
[4]陈唐龙.高速铁路接触网检测若干关键技术研究.西南交通大学博士学位论文,2006.
[5]汪安民,程昱.DSP应用开发实用子程序.北京:人民邮电出版社,2005.
[6]徐士良.常用算法程序集.北京:清华大学出版社,2003.
[7]程佩青.数字信号处理教程.北京:清华大学出版社,2001.
[8]Wormley D.Dynamic Performance Characteristics of New Configuration Pantoguaph-Catenary System.Final Report DOT/OST,1984.
[9]Bachman,C.G.著.激光雷达系统与技术.北京:国防工业出版社,1982.
[10]戴永江.激光雷达原理=The principle of lidar.北京:国防工业出版社,2002.
[11]阎吉祥.环境监测激光雷达.北京:.科学出版社,2001.
[12]StimsonGeorge W.著,吴汉平译.机载雷达导论.北京:电子工业出版社,2005.
[13]#12
[14]廖明生,林晖.雷达干涉测量:原理与信号处理基础.北京:测绘出版社,2003.
[15]#12
[16]#12
[17]楼宇希.雷达精度分析.北京:国防工业出版社,1979.
[18]陈保辉.雷达目标反射特性.北京:国防工业出版社,1993.
[19]庄钊文等著.雷达极化信息处理及其应用.北京:国防工业出版社,1999.
[20]黄培康,殷红成,许小剑.雷达目标特性.北京:电子工业出版社,1992.
[21]马存宝主编.民机通信导航与雷达.西安:西北工业大学出版社,2004.
[22]Yo-Seob Lee,Soon-Ill Hong.A study on maintaining control of tension for a catenary's cable.Industrial Electronics,2001.Proceedings.ISIE 2001.IEEE International Symposium on Volume 1,12-16June 2001:581-585.
[23]Nugent F..The design,construction and operation of the overhead fixed equipment for the Queensland Railways main line electrification project.Main Line Railway Electrification,1989.,International Conference on 25-28 Set 1989:109-113.
[24]Brier R..Time domain modeling of catenary lightning protection systems:how to design effective lightning protection systems.Electromagnetic Compatibility,2001.EMC.2001 IEEE International Symposium on Volume 1,13-17 Aug.2001:564-567.
[25]#12
[26]斯科尔尼克M.I.主编,谢卓译.雷达手册.北京:国防工业出版社,1974.
[27]孙仲康.雷达数据数字处理.北京:国防工业出版社,1983.
[28]李连升.雷达伺服系统.北京:国防工业出版社,1983.
[29](美)巴顿D.K.著,陈方林.雷达系统分析.北京:国防工业出版社,1985.
[30]丁鹭飞等编.雷达系统.西安:西北电讯工程学院出版社,1984.
[31]蔡希尧.雷达系统概论.北京:科学出版社,1983.
[32](美)米切尔(Mitchell,R.L.)著,陈训达译.雷达系统模拟.北京:科 学出版社,1982.
[33]张直中.雷达信号的选择与处理.北京:国防工业出版社,1979.
[34]林茂庸等编.雷达信号理论.北京:国防工业出版社,1984.
[35]#12
[36]彭一之.雷达自动装置.北京:科学教育出版社,1961.
[37]戴树荪.数字技术在雷达中的应用.北京:国防工业出版社,1981.
[38]Motlis Y.,Keselman L.M..Enhanced analytical design method for overhead line conductors in nonlevel spans.Transmission and Distribution Conference,1996.Proceedings.,1996 IEEE 15-20 Sept.1996:359-365.
[39]Resta F.,Collina A.,Fossati F..Actively controlled pantograph:an application.Advanced Intelligent Mechatronics,2001.Proceedings.2001 IEEE/ASME International Conference on Volume 1,8-12 July 2001:243-248.
[40]Mandai T.,Shimizu M.,Harada S..Development of rigid conductor line for high-speed operation.Industrial Technology,2003 IEEE International Conference on Volume 1,10-12 Dec.2003:587-592.
[41]Hofler H.,Dambacher M.,Dimopoulos N.,Jetter V..Monitoring and inspecting overhead wires and supporting structures.Intelligent Vehicles Symposium,2004 IEEE 14-17 June 2004:512-517.
[42]Levant A.,Pisano A.,Usai,E..Output-feedback control of the contact-force in high-speed-train pantographs.Decision and Control,2001.Proceedings of the 40th IEEE Conference on Volume 2,4-7 Dec.2001:1831-1836.
[43]#12
[44]陶望平,王忠民.无线电技术和雷达.北京:科学教育出版社,1961.
[45](美)GookinDan著殷雷译.DOS傻瓜书.成都:电子科技大学出版社,1995.6.
[46]余勇编.DOS6.22从入门到精通.北京:清华大学出版社,1994.6.
[47]Phil Balma,Lesser,Robert.Comcurrent PC DOSsystem concepts and programming procedures.Englewood:Cliff Prentice-Hall,1986.
[48]Purdum,Jack J.,Libeskind,Shlomo.C Programming guide:Create your own DOS Commands.Indianapolis:Que Clorporation,1985.
[49]吕强,杨季文等编著.C语言实践(一)=C语言的DOS系统程序设计.北京:清华大学出版社,1994.12.
[50]周枫编译.BorlandC++3.0DOS和Windows编程技巧与实:上.北京:海洋出版社,1992.
[51]Kelley,AL.,Poh.,Ira.Turbo C:the essentials of C programming.California:The Benjamin/Cummings Publishing Company,1988.
[52]Schildt,Herbert,Chui,Paul.Using Turbo C++ problem solving and program design.Berkeley:McGraw-Hill,1990.
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