轨道曲率预瞄算法及空间几何滞后机理分析

doi:10.3901/JME.2023.10.301

机械工程学报 ›› 2023, Vol. 59 ›› Issue (10): 301-310.doi: 10.3901/JME.2023.10.301

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轨道曲率预瞄算法及空间几何滞后机理分析

肖春昱, 田师峤, 罗湘萍, 宫岛, 周劲松

同济大学铁道与城市轨道交通研究院上海 201800

收稿日期:2022-06-16 修回日期:2023-02-25 出版日期:2023-05-20 发布日期:2023-07-19
通讯作者: 田师峤(通信作者),男,1992年出生,博士,博士后。主要研究方向为轨道车辆转向架的主动控制,动力学及强度分析。E-mail:tianshiqiao291@163.com E-mail:tianshiqiao291@163.com
作者简介:肖春昱,男,1995年出生,博士研究生。主要研究方向为轨道车辆转向架主动控制技术。E-mail:xcy_tongji@163.com
基金资助:
中国博士后科学基金资助项目(2021M702477)。

Pre-scanning Algorithm of Railway Track Curvature and Analysis of Geometric Lag Principle

XIAO Chunyu, TIAN Shiqiao, LUO Xiangping, GONG Dao, ZHOU Jinsong

Institute of Rail Transit, Tongji University, Shanghai 201800

Received:2022-06-16 Revised:2023-02-25 Online:2023-05-20 Published:2023-07-19

摘要/Abstract

摘要： 实时获取轨道线路的曲率可为诸多轨道车辆主动控制技术提供关键输入参量。通过相机获取前方轨道线路的图像从而预瞄曲率,是解决信号滞后问题的有效途径。为此,首先基于既有的机器视觉技术进行合理假设,进而提出一种通过轨道线路中心线横向偏移量映射线路曲率的预瞄算法。随后,重点阐述探测曲率相对于预瞄点处曲率的滞后机理,研究结果表明由预瞄点形成的虚拟车体引入了几何惯性。在此基础上,给出探测曲率与车辆所处位置实际曲率之间的空间位置修正公式。最后,通过Simpack和Matlab仿真验证了上述结论。上述研究结果可为视觉技术应用于轨道曲率测量领域提供一定的理论参考。

关键词: 轨道车辆, 轨道线路曲率, 实时探测, 预瞄, 几何惯性效应

Abstract: Obtaining the railway track curvature in real time can provide key input parameters for many active control technologies of railway vehicles. It is an effective way to completely solve the problem of signal lag to obtain the image of the front track line through camera and pre-scanning the curvature. Therefore, some reasonable assumptions based on the existing machine vision technology is made and a pre-scanning algorithm is proposed to map the track curvature through the lateral offset of the track center line. Then, the lag principle of the measured curvature relative to the curvature at the pre-scanning point is further analyzed. The results show that the virtual vehicle body formed by the pre-scanning point introduces geometric inertia. On this basis, the spatial correction formula between the measured curvature and the actual curvature of the vehicle position is given. Finally, the above conclusions are verified by Simpack and Matlab simulation. The above research results can provide some theoretical reference for the application of vision technology in the field of railway vehicle active control.

Key words: railway vehicle, railway track curvature, real-time detection, pre-scanning, geometric inertia effect

中图分类号:

TG156

肖春昱, 田师峤, 罗湘萍, 宫岛, 周劲松. 轨道曲率预瞄算法及空间几何滞后机理分析[J]. 机械工程学报, 2023, 59(10): 301-310.

XIAO Chunyu, TIAN Shiqiao, LUO Xiangping, GONG Dao, ZHOU Jinsong. Pre-scanning Algorithm of Railway Track Curvature and Analysis of Geometric Lag Principle[J]. Journal of Mechanical Engineering, 2023, 59(10): 301-310.

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轨道曲率预瞄算法及空间几何滞后机理分析

Pre-scanning Algorithm of Railway Track Curvature and Analysis of Geometric Lag Principle

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