高速铁路无砟轨道板智能精调器的控制算法

Control Algorithm of High-speed Railway Ballastless Track Slab Intelligent Fine Adjustment Machine

针对高速铁路客运专线无砟轨道板的自动化精调问题,提出一种新型智能精调器。首先对整个智能精调系统进行了概括性的介绍;然后对其控制算法进行了详细说明,通过构建轨道板精调的数学模型,推导用于定位控制的冗余方程,构建了理论基础,并选取Trust-Region Dogleg优化算法进行仿真求解。仿真表明,此算法能够保证所有几何参数的可辨识性,且迭代过程具备较好的鲁棒性。考虑实际实际精调操作误差,选取多组水平的测量噪声进行参数辨识,分析了不同水平的测量噪声对辨识误差均方根的影响,在较大的测量噪声影响下,各点定位精度依然能够满足要求。该算法经过了多次现场试验,均取得了良好的应用效果。

To solve the problem of adjusting ballastless track slab of the High-speed Passenger Dedicated Line automatically and precisely, a new intelligent fine adjustment machine was proposed. A broad introduction of the fine adjustment system was given at first and its control algorithm was introduced in detail Through the construction of the ballastless track slab mathematical model, the theoretical foundation for positioning control was formed by deducing the redundant equations and the Trust-Region Dogleg algorithm was chosen to solve the equations. Simulation results show that all geometric parameters can be identified and iterative process has good robustness. The position accuracy of each point can still meet the requirements when considering actual errors, several groups of measurement noise are selected to analyze its influence to identification errors. In the field experiments, the algorithm is applied effectively.