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Gyroscope track detection vehicle
The track inspection vehicle, also known as the track detection vehicle or track inspection instrument, is abbreviated as the track inspection vehicle. Using the track inspection vehicle to check the geometric state of the track is an important part of ensuring the safety of railway operations. The main content of the track inspection vehicle's detection of track deformation includes gauge, elevation, track direction, level, triangular pits, vibration acceleration, etc. Among them, the unevenness of the track is a key factor that directly restricts the increase in train speed. Track irregularity refers to the deviation of the two rails in height and lateral direction from the ideal geometric dimensions of the rails. There are four types of track irregularity: 1. Longitudinal unevenness of the track, which refers to the vertical geometric position deviation of the actual track centerline from the ideal track centerline along the length direction. 2. Lateral unevenness of the track, which refers to the vertical height difference of the left and right rails along the length direction. 3. Track direction (track gauge) irregularity, which refers to the horizontal geometric position deviation of the actual track centerline from the ideal track centerline along the length direction. 4. Gauge irregularity, which refers to the deviation of the actual gauge from the nominal gauge.
Figure 1 Schematic diagram of track direction irregularity
Track irregularity can be divided into periodic track irregularity, random irregularity, and local irregularity. Periodic track irregularity is caused by the joints of the track forming irregularities with a wavelength equal to the track length. Random irregularity is caused by errors in track laying, maintenance, and wear of the wheel-rail interface, which varies with time and location. Local irregularity is caused by specific structures of the line (such as switches, transfer lines, side lines, easing curves, diverging lines, bridges, etc.) or accidental locations (such as local defects in the line). Track irregularity causes large wheel-rail dynamic forces, which can damage the track structure itself and directly affect or endanger the safety of high-speed operations. Track irregularity is an external disturbance to the locomotive and vehicle system and is the main source of vibration in the locomotive and vehicle system. The function description of the random variation law of track irregularity is an important basic data for dynamic analysis of the locomotive and vehicle system, and this dynamic analysis is an important means for modern locomotive and vehicle design, maintenance, and quality assessment.
This article mainly discusses track direction irregularity in track irregularity (see Figure 1). Track direction irregularity is caused by deviations in the positioning of the track centerline during track laying and major repairs, accumulation of lateral residual deformation of the track slab, uneven wear on the side of the rail head, fastener failure, and inconsistent lateral elasticity of the track.
There are mainly two methods for detecting the smooth state of track direction:
1. Inertial reference method,
2. Short chord measurement method.
The inertial reference method is a track measurement method that depicts the trajectory of the track based on the principles of inertial navigation, thereby determining the geometric state of the track. This method requires the use of a high-precision strapdown inertial navigation system, which is usually used in high-speed track inspection vehicles. Its principle is the same as that of the strapdown inertial navigation system, and details can be found in relevant literature on strapdown inertial navigation systems. When using this system, initial alignment is usually required to determine the directional matrix between the geographic coordinate system and the carrier coordinate system, and then navigation calculations begin. The advantage of the inertial reference method for detecting track conditions is that it measures quickly, while the disadvantage is that it is expensive.
The chord measurement method is an earlier method for measuring the smooth state of track direction, which is usually used in track inspection trolleys. Among them, the track direction irregularity detection technology based on fiber optic gyroscopes (FOG) is currently the most advanced track detection means in the chord measurement method. The core issue of using gyroscopes to measure track direction is precise angle measurement, based on which the transfer function relationship between the angle change of the track inspection instrument and the track direction is established, and track direction irregularity information is extracted from it.
The measurement of track irregularity is conducted using several chord lengths, such as 10m chord, 20m chord, 30m chord, 70m chord, 300m chord, etc., which is also referred to as wavelength, with each wavelength having corresponding allowable deviations for track irregularity. The deviation of short wavelengths has a greater impact on low-speed operations, while the deviation of long wavelengths has a significant impact on high-speed operations.
This article will focus on the detection of track smoothness state using the chord measurement method based on fiber optic gyroscopes as the basic measurement method.
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