转向架运动轨迹在线检测技术研究
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摘要
我国铁路建设高速发展、人民生活品质的提高和全社会人文意识的进步,使得我们对列车运行安全性及舒适性要求更高。转向架是机车车辆的关键部件,它应具备良好的曲线通过性、横向稳定性和运行平稳性。转向架的工作状态直接影响到列车运行的安全性,它的运行姿态直接影响列车的运行姿态。在不影响转向架运行的情况下,对转向架进行在线的运行轨迹检测,获取其运行姿态和位置信息,可同时结合轨道状态对列车运行品质进行评估,对保证列车高速运行时的安全性与平稳性有十分重要的意义。
本论文研究应用于列车转向架的运动轨迹在线检测。主要工作包括以下几个方面：
1.简要介绍列车转向架运行检测现状,通过对几种姿态检测方法的比较,选择使用广泛运用于航空及航海的捷联惯性导航技术来解算转向架的点头角、侧滚角、摇头角和位置信息。
2.研究了捷联惯性导航技术的基本原理及算法,比较各姿态更新算法的优劣,确定检测系统算法的最终方案。
3.分析检测系统的误差源,建立检测系统的卡尔曼滤波模型,并对初始对准姿态误差进行卡尔曼滤波仿真。
4.检测系统软硬件设计,实现转向架三向角速率和加速度信号的数据采集、存储和解包。用MATLAB编写捷联惯性导航解算程序,导入采集的数据,提取出转向架姿态角和位置信息。
5.检测系统在模拟试验车上安装和试验,得出解算结果并分析,通过试验,验证系统的可行性。
With the development of railway construction in China, improving of people's quality of life and progressing of the whole society humanistic consciousness,we had a higer requriement for trains' runnirg safty and comfort.Bogie is the key component of a vehicle.It should have good lateral stability, smooth running and curve passing.Bogie's working state directly affects the vehicle's running safty.its running attitude affects the vehicle's running attitude. Online detecting the bogie's trajectory without affecting the bogie's running,acquiring its attitude and position,to be combined with track's state.that can evaluate the vehicle's operation quality.And it is very important for ensuring the safty and stability for high-speed running vehicles.
This paper has studied the online detecting system for train bogie's trajectory. The main work has been described in details as follows:
1.After introduced present condition of train bogie detection in brief,by comparing several kinds of attitude detecting methods,strapdown inertial navigation technology was chosen which is widely used for aviation and marine to calculate the bogie's nodding angle,roll angle,yaw angle and position informations;
2.Principles and algorithms of strapdown inertial navigation technology were studied. The final solution of detection system was determined with the compartment between the advantages and disadvantages of those attitude updating algorithms.
3.The detection system's error sources was analysed and its Kalman filtering model was established. Kalman filtering of the initial aligning attitude error was simulated.
4. The detection system's hardware and software were designed.The bogie's three-dimensional angular rate and acceleration signal were acquired. The data's storage and unpacking were realized. MATLAB was used for coding strapdown inertial navigation solution procedure.The bogie's attitude and position information were extracted by importing the collected data to the procedure.
5.The detection system was installed and tested on the simulation test train.The caiculational results were realized and analysed. The feasibility of the system was verified through the test.
本论文研究应用于列车转向架的运动轨迹在线检测。主要工作包括以下几个方面：
1.简要介绍列车转向架运行检测现状,通过对几种姿态检测方法的比较,选择使用广泛运用于航空及航海的捷联惯性导航技术来解算转向架的点头角、侧滚角、摇头角和位置信息。
2.研究了捷联惯性导航技术的基本原理及算法,比较各姿态更新算法的优劣,确定检测系统算法的最终方案。
3.分析检测系统的误差源,建立检测系统的卡尔曼滤波模型,并对初始对准姿态误差进行卡尔曼滤波仿真。
4.检测系统软硬件设计,实现转向架三向角速率和加速度信号的数据采集、存储和解包。用MATLAB编写捷联惯性导航解算程序,导入采集的数据,提取出转向架姿态角和位置信息。
5.检测系统在模拟试验车上安装和试验,得出解算结果并分析,通过试验,验证系统的可行性。
With the development of railway construction in China, improving of people's quality of life and progressing of the whole society humanistic consciousness,we had a higer requriement for trains' runnirg safty and comfort.Bogie is the key component of a vehicle.It should have good lateral stability, smooth running and curve passing.Bogie's working state directly affects the vehicle's running safty.its running attitude affects the vehicle's running attitude. Online detecting the bogie's trajectory without affecting the bogie's running,acquiring its attitude and position,to be combined with track's state.that can evaluate the vehicle's operation quality.And it is very important for ensuring the safty and stability for high-speed running vehicles.
This paper has studied the online detecting system for train bogie's trajectory. The main work has been described in details as follows:
1.After introduced present condition of train bogie detection in brief,by comparing several kinds of attitude detecting methods,strapdown inertial navigation technology was chosen which is widely used for aviation and marine to calculate the bogie's nodding angle,roll angle,yaw angle and position informations;
2.Principles and algorithms of strapdown inertial navigation technology were studied. The final solution of detection system was determined with the compartment between the advantages and disadvantages of those attitude updating algorithms.
3.The detection system's error sources was analysed and its Kalman filtering model was established. Kalman filtering of the initial aligning attitude error was simulated.
4. The detection system's hardware and software were designed.The bogie's three-dimensional angular rate and acceleration signal were acquired. The data's storage and unpacking were realized. MATLAB was used for coding strapdown inertial navigation solution procedure.The bogie's attitude and position information were extracted by importing the collected data to the procedure.
5.The detection system was installed and tested on the simulation test train.The caiculational results were realized and analysed. The feasibility of the system was verified through the test.
引文
[1]沈志云.论我国高速铁路技术创新发展的优势.中国科学.2012,第57卷：594
[2]郑宏波.铁路“十二五”发展规划环评探究.铁路工程学报.2012年1期：101
[3]刘伟良.基于MVB的机车控制电源在线故障诊断系统的研究.中南大学硕士学位论文,2009.5
[4]董丽.纳米比亚径向转向架机车悬挂参数优化及动力学性能分析.中南大学硕士学位论文,2006.5
[5]孙慧琴,刘峰.基于粗集的转向架故障诊断研究.铁道机车车辆,2007年27卷4期：4-5
[6]秦艳敏.列车安全监测系统关键技术的研究.西南交通大学硕士学位论文.2006.3
[7]冯艳波.基于无线传感网络的列车运行安全监测系统.西南交通大学硕士学位论文.2009.3
[8]何凯明.机车监控装置故障诊断系统研究.西南交通大学硕士学位论文.2010.3
[9]李海浪.高速综合检测列车视频监测系统.铁路技术创新,2012年1期
[10]张永焘.中低速磁浮列车状态综合监测及轨道不平顺预测的研究.国防科技大学硕士学位论文,2008.5
[11]郑美芳.列车车轮擦伤的光学检测方法.西南交通大学硕士学位论文,2010.4
[12]张晓玲,张宝峰.双目立体视觉的远距离运动物体运行姿态研究.光电工程.2008年35卷3期：16-17
[13]安美珍.采煤机运行姿态及位置监测的研究.煤炭科学研究总院硕士学位论文.2009.4
[14]谢海波.地磁探测与GPS复合滚转姿态检测技术研究.南京理工大学硕士学位论文.2008.5
[15]朱晓明.激光三角法求取机器人末端工具姿态的方法研究.装备制造技术,2011年5期：13-15
[16]PHILPOT,J.StL.and MITCHELL,J.H.:GB Patent 599826,1948.
[17]LAWRENCE,A.W.'Modem inertial technology-navigation,guidance and control' (Springer-Verlag,1998,2bd edn.)
[18]MAIMAN,T.H.Nature,1960,87,p.493.Physical Review,1961.123,p.1145;'Optical and microwave experiment in ruby',Phsics Review Letters,1960,4,p.564.
[19]MACEK,W,M..and DAVIS,D.T.M.'Rotation rate sensing with travelling wave ring lasers', Applied Physics Letters,1963,2,p.67
[20]VALI,V.,and SHORTHILL,R.W.:'Fibre ring interferometer',Applied Optics,1976,15,p. 1099
[21]刘安鹏.基于MEMS技术的微型组合导航系统建模.西北工业大学硕士学位论文,2005.6
[22]王雪梅等.摆式列车过曲线时的圆锥运动效应及其补偿算法研究.铁道学报,2005年1期
[23]王德春等.数值方法解算四元微分方程的稳定性分析.战术导弹技术,2006年6期
[24]Department of Defence World Geodetic System 1984:Its definition and relationship with local geodetic systems.DMATR 8350.2,September 1987
[25]郭福成.基于WGS-84地球模型的单星测向定位方法.宇航学报,2011年第32卷第5期
[26]BOMFORD,G.Geodesy.Oxford University Press Inc.,New York City.1985,4th edn
[27]蒋黎星.捷联惯性导航算法及半实物仿真系统研究.南京理工大学硕士学位论文,2007.6
[28]David Titterton,John Weston.Strapdown Interial Navigation echnology.张天光,王秀萍等译.北京：国防工业出版社2007年
[29]任蕾.捷联惯性导航系统初始对准方法研究.哈尔滨工程大学硕士学位论文,2010.3
[30]BROWN,A.,EBNER,R.:A calibration technique for a laser gyrostrapdown inertial navigation system.DGON Proceedings,Gyro Technology Symposium,Stuttgart,1982
[31]尹文.MIMU微惯性测量单元误差建模与补偿技术.国防科学技术大学硕士学位论文,2007.5
[32]张娇等.三轴磁阻式传感器标定方法研究.弹箭与制导学报,2010年30卷6期
[33]Rambabu Kandepu.Bjarne Foss,Lars Imsland.Applying the unscented Kalman filter for nonlinear state estimation. Journal of Process Contro1,2008.8
[34]李淑玉等.基于强跟踪滤波器的多传感器信息融合应用研究.计算机与数字工程,2009年8期
[35]Gapolino G A.Du B.1991.Extended Kalman filter obserber for induction machine robot rurrents.Proceedings of the European Power Electronics Conference,1991.3
[36]张德明.舰载武器惯导系统初始对准技术研究.沈阳理工大学硕士学位论文,2011.5
[37]BRITING,K.R.Inertial navigation system analysis(John Wiley and Sons.1971)
[38]付梦印,邓志红等Kalmanl滤波理论及其在导航系统中的应用.北京：科学出版社,?010年
[39]KAIN,J.E.,and CLOUTIER,J.R.Rapid transfer alignment for tactical weapon applications.Proceedings of AIAA Guidance,Navigation and Control Conference,1989
[40]庞鸿锋.三轴磁通门传感器误差分析与校正.国防科学技术大学硕士学位论文.2010.4
[41]胡晓乐.惯性导航初始对准在车载多传感器集成系统上的应用研究.首都师范大学硕士学位论文,2009.4
[42]Hervr C.Lefevre.The Fiber-Optic Gyroscope张桂才,王巍译.北京：国防工业出版社,2002.1
[43]万德均.舰用惯性技术的现状与发展.海军大连舰艇学院学报,2003年5期
[44]HULSING,R.:MEMS Inertial rate and acceleration sensor,ION National Technical Meeting,CA.January,1998
[45].由国福等.基于MEMS技术的复合型智能传感器设计.传感器与微系统,2006年3期
[46]杨斌.嵌入式系统应用开发基础(上).西南交通大学信息科学技术与学院,2009年6月
[47]IBM&MontaVista Software,Dynamic Power Management for Embedded System, Version 1.1 November 19,2002
[48]欧青立,曾照福等.嵌入式系统的架构与发展.实验室研究与探索,2007年4期
[49]何志宏.硬盘数据按簇拷贝技术的研究.计算机时代,2010年3期
[50]Tim Wescott.Applied Control Theory for Embedded Systems.Embedded Technology, Newnes,2006
[51]杨明极,陈方县,吴学君.嵌入式系统中SD卡的FAT32文件系统的设计.器件与电路,2010年第34卷第04期
[52]Rosenblum M,Ousterhout K.The design and implementation of a log-structured file system,Proc 13th Symp,On operation system principles.ACM Transactions on Computer system,1992
[53]王健.基于NAND Flash的嵌入式文件系统的设计与实现.北京交通大学硕士学位论
文,2008.5
[53]TANENBAUM.A.S.Modern operating systems.3rd ed.New Jersey:Pearson Higher Isia Educstion.2007
[54]蔡旭晖,刘卫国等.MATLAB基础与应用教程.北京：人民邮电出版社,2009年
[55]徐东艳,孟晓刚.MATLAB函数库查询辞典.北京：中国铁道出版社,2006.4
[2]郑宏波.铁路“十二五”发展规划环评探究.铁路工程学报.2012年1期：101
[3]刘伟良.基于MVB的机车控制电源在线故障诊断系统的研究.中南大学硕士学位论文,2009.5
[4]董丽.纳米比亚径向转向架机车悬挂参数优化及动力学性能分析.中南大学硕士学位论文,2006.5
[5]孙慧琴,刘峰.基于粗集的转向架故障诊断研究.铁道机车车辆,2007年27卷4期：4-5
[6]秦艳敏.列车安全监测系统关键技术的研究.西南交通大学硕士学位论文.2006.3
[7]冯艳波.基于无线传感网络的列车运行安全监测系统.西南交通大学硕士学位论文.2009.3
[8]何凯明.机车监控装置故障诊断系统研究.西南交通大学硕士学位论文.2010.3
[9]李海浪.高速综合检测列车视频监测系统.铁路技术创新,2012年1期
[10]张永焘.中低速磁浮列车状态综合监测及轨道不平顺预测的研究.国防科技大学硕士学位论文,2008.5
[11]郑美芳.列车车轮擦伤的光学检测方法.西南交通大学硕士学位论文,2010.4
[12]张晓玲,张宝峰.双目立体视觉的远距离运动物体运行姿态研究.光电工程.2008年35卷3期：16-17
[13]安美珍.采煤机运行姿态及位置监测的研究.煤炭科学研究总院硕士学位论文.2009.4
[14]谢海波.地磁探测与GPS复合滚转姿态检测技术研究.南京理工大学硕士学位论文.2008.5
[15]朱晓明.激光三角法求取机器人末端工具姿态的方法研究.装备制造技术,2011年5期：13-15
[16]PHILPOT,J.StL.and MITCHELL,J.H.:GB Patent 599826,1948.
[17]LAWRENCE,A.W.'Modem inertial technology-navigation,guidance and control' (Springer-Verlag,1998,2bd edn.)
[18]MAIMAN,T.H.Nature,1960,87,p.493.Physical Review,1961.123,p.1145;'Optical and microwave experiment in ruby',Phsics Review Letters,1960,4,p.564.
[19]MACEK,W,M..and DAVIS,D.T.M.'Rotation rate sensing with travelling wave ring lasers', Applied Physics Letters,1963,2,p.67
[20]VALI,V.,and SHORTHILL,R.W.:'Fibre ring interferometer',Applied Optics,1976,15,p. 1099
[21]刘安鹏.基于MEMS技术的微型组合导航系统建模.西北工业大学硕士学位论文,2005.6
[22]王雪梅等.摆式列车过曲线时的圆锥运动效应及其补偿算法研究.铁道学报,2005年1期
[23]王德春等.数值方法解算四元微分方程的稳定性分析.战术导弹技术,2006年6期
[24]Department of Defence World Geodetic System 1984:Its definition and relationship with local geodetic systems.DMATR 8350.2,September 1987
[25]郭福成.基于WGS-84地球模型的单星测向定位方法.宇航学报,2011年第32卷第5期
[26]BOMFORD,G.Geodesy.Oxford University Press Inc.,New York City.1985,4th edn
[27]蒋黎星.捷联惯性导航算法及半实物仿真系统研究.南京理工大学硕士学位论文,2007.6
[28]David Titterton,John Weston.Strapdown Interial Navigation echnology.张天光,王秀萍等译.北京：国防工业出版社2007年
[29]任蕾.捷联惯性导航系统初始对准方法研究.哈尔滨工程大学硕士学位论文,2010.3
[30]BROWN,A.,EBNER,R.:A calibration technique for a laser gyrostrapdown inertial navigation system.DGON Proceedings,Gyro Technology Symposium,Stuttgart,1982
[31]尹文.MIMU微惯性测量单元误差建模与补偿技术.国防科学技术大学硕士学位论文,2007.5
[32]张娇等.三轴磁阻式传感器标定方法研究.弹箭与制导学报,2010年30卷6期
[33]Rambabu Kandepu.Bjarne Foss,Lars Imsland.Applying the unscented Kalman filter for nonlinear state estimation. Journal of Process Contro1,2008.8
[34]李淑玉等.基于强跟踪滤波器的多传感器信息融合应用研究.计算机与数字工程,2009年8期
[35]Gapolino G A.Du B.1991.Extended Kalman filter obserber for induction machine robot rurrents.Proceedings of the European Power Electronics Conference,1991.3
[36]张德明.舰载武器惯导系统初始对准技术研究.沈阳理工大学硕士学位论文,2011.5
[37]BRITING,K.R.Inertial navigation system analysis(John Wiley and Sons.1971)
[38]付梦印,邓志红等Kalmanl滤波理论及其在导航系统中的应用.北京：科学出版社,?010年
[39]KAIN,J.E.,and CLOUTIER,J.R.Rapid transfer alignment for tactical weapon applications.Proceedings of AIAA Guidance,Navigation and Control Conference,1989
[40]庞鸿锋.三轴磁通门传感器误差分析与校正.国防科学技术大学硕士学位论文.2010.4
[41]胡晓乐.惯性导航初始对准在车载多传感器集成系统上的应用研究.首都师范大学硕士学位论文,2009.4
[42]Hervr C.Lefevre.The Fiber-Optic Gyroscope张桂才,王巍译.北京：国防工业出版社,2002.1
[43]万德均.舰用惯性技术的现状与发展.海军大连舰艇学院学报,2003年5期
[44]HULSING,R.:MEMS Inertial rate and acceleration sensor,ION National Technical Meeting,CA.January,1998
[45].由国福等.基于MEMS技术的复合型智能传感器设计.传感器与微系统,2006年3期
[46]杨斌.嵌入式系统应用开发基础(上).西南交通大学信息科学技术与学院,2009年6月
[47]IBM&MontaVista Software,Dynamic Power Management for Embedded System, Version 1.1 November 19,2002
[48]欧青立,曾照福等.嵌入式系统的架构与发展.实验室研究与探索,2007年4期
[49]何志宏.硬盘数据按簇拷贝技术的研究.计算机时代,2010年3期
[50]Tim Wescott.Applied Control Theory for Embedded Systems.Embedded Technology, Newnes,2006
[51]杨明极,陈方县,吴学君.嵌入式系统中SD卡的FAT32文件系统的设计.器件与电路,2010年第34卷第04期
[52]Rosenblum M,Ousterhout K.The design and implementation of a log-structured file system,Proc 13th Symp,On operation system principles.ACM Transactions on Computer system,1992
[53]王健.基于NAND Flash的嵌入式文件系统的设计与实现.北京交通大学硕士学位论
文,2008.5
[53]TANENBAUM.A.S.Modern operating systems.3rd ed.New Jersey:Pearson Higher Isia Educstion.2007
[54]蔡旭晖,刘卫国等.MATLAB基础与应用教程.北京：人民邮电出版社,2009年
[55]徐东艳,孟晓刚.MATLAB函数库查询辞典.北京：中国铁道出版社,2006.4