基于互补滤波的轨道不平顺动态测量方法  

Dynamic Measurement Method of Track Irregularity Based on Complementary Filter

作　　者：陈仕明 魏世斌 李颖 程朝阳 侯智雄 秦哲 杜馨瑜 CHEN Shiming;WEI Shibin;LI Ying;CHENG Zhaoyang;HOU Zhixiong;QIN Zhe;DU Xinyu(Postgraduate Department,China Academy of Railway Sciences,Beijing 100081,China;Infrastructure Inspection Research Institute,China Academy of Railway Sciences Corporation Limited,Beijing 100081,China)

机构地区：[1]中国铁道科学研究院研究生部,北京100081 [2]中国铁道科学研究院集团有限公司基础设施检测研究所,北京100081

出　　处：《中国铁道科学》2022年第1期52-62,共11页China Railway Science

基　　金：中国国家铁路集团有限公司科技研究开发计划课题(P2021G014);中国铁道科学研究院集团有限公司院基金课题(2019YJ158,2020YJ203)。

摘　　要：现有高速铁路轨道动态检测主要采用基于加速度计和测距传感器数据的惯性基准法,由于加速度计具有信噪比低、积分漂移大等特点,限制了其在轨道长波不平顺和低速下的测量精度,因此提出基于互补滤波的轨道不平顺动态测量方法。首先,优化系统硬件结构,在转向架前后安装测距传感器;其次,采用轨面上"两点弦"测量模型,推导基于光纤陀螺仪数据的角速度测量法;通过测量系统传递函数的幅频特性分析,发现角速度测量法在测量30 m以内的短波不平顺时存在衰减,为此提出互补滤波方法,即对加速度测量法与角速度测量法进行融合计算;最后,用轨道-车辆动力学仿真对3种方法的精度进行实例分析。结果表明:相较于角速度测量法,互补滤波测量法有效补偿了其在测量30 m以内的短波不平顺时存在的高频衰减的不足;相较于加速度测量法,互补滤波测量法将平均精度提高了24%~80%,因而它具有噪声敏感度低、受检测速度影响小等优点。The existing dynamic inspection of high-speed railway track mainly uses Inertial Reference Method(IRM)based on accelerometer and ranging sensor data.The accelerometer has the characteristics of low signalto-noise ratio and large integral drift,which limits its measurement accuracy under long-wave track irregularity and low speed.Therefore,a dynamic measurement method of track irregularity based on complementary filter is proposed.Firstly,the hardware structure of the system is optimized and ranging sensors are installed on the front and rear of the bogie.Secondly,the"two-point-chord"measurement model on the rail surface is used to derive the angular velocity measurement method(AVMM)based on the fiber optic gyroscope data.By analyzing the amplitude-frequency characteristics of the transfer function of the measurement system,it is found that AVMM has attenuation when measuring the short-wave irregularity within 30 m.Therefore,the complementary filter method is proposed,that is,the acceleration measurement method and AVMM are fused and calculated.Finally,the accuracy of the three methods is analyzed by using the track-vehicle dynamics simulation.The results show that compared with AVMM,the complementary filter measurement method can effectively compensate for the deficiency of high-frequency attenuation when measuring the short-wave irregularity within 30 m.Compared with the acceleration measurement method,the measurement accuracy can be improved by 24%to 80%,thus it has the advantages of low noise sensitivity and little impact by detection speed.

关 键 词：轨道动态检测 互补滤波 高低 轨向 轨道不平顺 

分 类 号：U213.2[交通运输工程—道路与铁道工程]