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EP3870757A1 - Machine pour la construction de voie ferrée et procédé de bourrage sous les traverses d'une voie ferrée - Google Patents

Machine pour la construction de voie ferrée et procédé de bourrage sous les traverses d'une voie ferrée

Info

Publication number
EP3870757A1
EP3870757A1 EP19778908.4A EP19778908A EP3870757A1 EP 3870757 A1 EP3870757 A1 EP 3870757A1 EP 19778908 A EP19778908 A EP 19778908A EP 3870757 A1 EP3870757 A1 EP 3870757A1
Authority
EP
European Patent Office
Prior art keywords
control
tamping
track
construction machine
tool carrier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19778908.4A
Other languages
German (de)
English (en)
Other versions
EP3870757C0 (fr
EP3870757B1 (fr
Inventor
Thomas Philipp
Reinhard BÖCK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Plasser und Theurer Export Von Bahnbaumaschinen GmbH
Original Assignee
Plasser und Theurer Export Von Bahnbaumaschinen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Plasser und Theurer Export Von Bahnbaumaschinen GmbH filed Critical Plasser und Theurer Export Von Bahnbaumaschinen GmbH
Publication of EP3870757A1 publication Critical patent/EP3870757A1/fr
Application granted granted Critical
Publication of EP3870757C0 publication Critical patent/EP3870757C0/fr
Publication of EP3870757B1 publication Critical patent/EP3870757B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
    • E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
    • E01B27/13—Packing sleepers, with or without concurrent work on the track
    • E01B27/16—Sleeper-tamping machines
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
    • E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
    • E01B27/13—Packing sleepers, with or without concurrent work on the track
    • E01B27/16—Sleeper-tamping machines
    • E01B27/17—Sleeper-tamping machines combined with means for lifting, levelling or slewing the track
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B2203/00—Devices for working the railway-superstructure
    • E01B2203/12—Tamping devices
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B2203/00—Devices for working the railway-superstructure
    • E01B2203/12—Tamping devices
    • E01B2203/122—Tamping devices for straight track
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B2203/00—Devices for working the railway-superstructure
    • E01B2203/14—Way of locomotion or support
    • E01B2203/145—Way of locomotion or support on the ballast
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B2203/00—Devices for working the railway-superstructure
    • E01B2203/16—Guiding or measuring means, e.g. for alignment, canting, stepwise propagation
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
    • E01B27/02—Placing the ballast; Making ballastway; Redistributing ballasting material; Machines or devices therefor; Levelling means

Definitions

  • the invention relates to a track construction machine with a tamping unit for tamping sleepers of a track lying in a ballast bed, comprising a height-adjustable tool carrier mounted on an aggregate frame, on which tamping tools can be provided to one another, the tool carrier being connected to one another by means of a
  • Control device controlled height adjustment drive is coupled.
  • the invention relates to a method for operating a
  • a track construction machine equipped with a tamping unit is used to produce or stabilize a desired track position.
  • the track construction machine travels the track and lifts the track grate, which is formed from sleepers and rails, to a target level using a lifting / straightening unit.
  • the new track position is fixed by tamping the sleepers with the tamping unit.
  • tamping tools tamping picks
  • tamping picks are set in vibration, lowered into the ballast bed on both sides of a sleeper and added to each other in order to compact the ballast under the sleeper.
  • the tamping tools are then lifted out of the ballast bed and moved apart.
  • the tamping unit is positioned over the next threshold and a new tamping cycle begins.
  • EP 1 233 108 A1 describes a lifting and lowering mechanism for a tamping unit, in which a hydraulic cylinder and a lever arrangement are coupled to an assembly frame.
  • a tamping unit with several tool carriers is known from EP 0 698 687 A1 known. Each tool holder is assigned its own height adjustment drive for separate lowering and lifting.
  • AT 519 195 A1 discloses a tamping unit in which a vertical vibration is superimposed on the lowering movement of the tamping tools in order to facilitate penetration of the tamping tools into a hardened ballast bed.
  • a vertical vibration is superimposed on the lowering movement of the tamping tools in order to facilitate penetration of the tamping tools into a hardened ballast bed.
  • an additional load on the track construction machine is accepted because the vertical vibration also affects you
  • the invention is based on the object of a track construction machine
  • the invention provides that to regulate a lowering movement of the
  • Tool holder a control loop with a controller, an adjusting device for the height adjustment drive and a measuring device for detecting the lowering movement is set up. It is possible for that
  • the measuring device advantageously includes a position transmitter for detecting a height position of the tool holder.
  • a corresponding control variable of the control loop can be predefined in a simple manner and leads to stable control.
  • a position transmitter for detecting a height position of the tool holder.
  • controller is preceded by a pilot control or a pre-filter for adapting a reference variable of the control loop.
  • the pilot control or the pre-filter uses a mathematical model with setting parameters for an optimized
  • Control of the actuating device in order to follow a predetermined sequence of the lowering movement with minimized deviations.
  • Hydraulic cylinder and hydraulic valve allow optimal control of the lowering movement and the lifting movement with short
  • the hydraulic valve is advantageously designed as a pilot-controlled control valve.
  • a highly dynamic and high-precision drive of a pilot valve enables optimal control of the main stage with a sufficiently high flow capacity.
  • a servo valve or a proportional valve can be used.
  • the tamping unit is positioned over a tamping point of the track and the tool carrier via the height adjustment drive with tamping tools penetrating into the ballast bed lowered, the lowering movement being carried out with a regulated movement quantity.
  • Control difference occurring during a stuffing cycle is fed to a computing unit and that based on the control difference in the
  • Computing unit is adapted by means of an iterative learning control algorithm at least one parameter of the pre-control or the pre-filter. This automatically reacts to changes in the state of the ballast bed, minimizing the control interventions for subsequent tamping cycles.
  • a position encoder This is either arranged on the tamping unit or at another location on the track construction machine, from which contactless detection of the lowering movement is possible.
  • control loop is given a reference variable that is dependent on a lowering time.
  • a predefined sequence of a lowering movement can then generate a function over time.
  • Lowering time is specified as a reference variable.
  • a desired braking curve In a corresponding time-distance curve, a desired braking curve and the
  • a setpoint curve is generated by means of a
  • Setpoint generator specified This makes it possible to automatically specify the reference variable. For example, in the setpoint generator
  • the trained setpoint generator a feedback variable of the control loop is supplied, the predetermined lowering movement is adjusted depending on the feedback variable.
  • the feedback variable is the measured control variable and allows conclusions to be drawn about the nature of the ballast bed. For example, a highly compacted ballast bed can result in a predetermined immersion depth no longer being achieved despite the regulation.
  • the setpoint generator then gives the control loop one
  • An improved method also provides that at least one of the im
  • Control loop processed quantities is supplied to an evaluation device and that a characteristic variable for the ballast bed is derived from the at least one size by means of the evaluation device.
  • a characteristic variable for the ballast bed is derived from the at least one size by means of the evaluation device.
  • the manipulated variable, the feedback variable or the control difference allow
  • Fig. 6 control loop with adjustable pre-filter or adjustable
  • Fig. 7 control loop with setpoint generator for generating a modified
  • the tamping unit 1 shown in FIG. 1 comprises a unit frame 2 which is fastened to a machine frame 3 of a track construction machine which can be moved on rails 4 of a track 5.
  • the tamping unit 1 is used for tamping a ballast bed 6 on which sleepers 7 with the rails 4 of the track 5 fastened thereon are mounted.
  • a tool carrier 8 is guided in a height-adjustable manner in the unit frame 2, a lowering movement 9 or lifting movement being carried out by means of an associated height adjustment drive 10.
  • an oscillation drive 11 is arranged, to which two auxiliary drives 12 are connected.
  • Each auxiliary drive 12 is connected to a pivot lever 13. Both swivel levers 13 are
  • the drives 10, 11, 12 are controlled by means of a
  • FIG. 1 shows the tamping unit 1 during such a phase of the tamping process.
  • the tamping tools 15 are then reset and lifted out of the ballast bed 6.
  • the tamping unit 1 is moved to the next threshold 7 and a new tamping cycle begins with a lowering movement 9.
  • the desired immersion depth 17 of the tamping tools 15 is reached as quickly as possible, however, the forces occurring do not cause disruptive loads on the track construction machine.
  • the immersion depth 17 should be reached exactly and not exceeded, in order to neither the thresholds 7 nor one below the
  • This optimized lowering movement 9 is achieved according to the invention by a control circuit set up in the track-laying machine with a controller 18, an adjusting device 19 for the height adjustment drive 10 and a measuring device 20 for detecting the lowering movement 9 (FIG. 2).
  • a control circuit set up in the track-laying machine with a controller 18, an adjusting device 19 for the height adjustment drive 10 and a measuring device 20 for detecting the lowering movement 9 (FIG. 2).
  • Setpoint generator 21 is a setpoint curve shown in FIG. 3 for a
  • Controlled variable x Several can also be set in the setpoint generator 21
  • Setpoint curves must be stored. A selection is made using a
  • the output of the setpoint generator 21 serves as a reference variable w of the control loop.
  • a lowering path s of the tool carrier 8 is provided as the controlled variable x.
  • the speed and / or the acceleration of the tool carrier 8 can also be used as the controlled variable x.
  • the controller 18 comprises a control element 22 and supplies one
  • Controller output variable y which is fed to an actuator 23 to form a manipulated variable u.
  • a pilot-controlled control valve for a hydraulic cylinder of the flute adjustment drive 10 is used, for example, as the actuating device 19.
  • the actuator 23 is then an actuator of this pilot-controlled control valve and controls a control path of the control valve as a manipulated variable u.
  • a present controlled system 24 comprises as actuator 25 the valve body of the control valve and all other components influencing the lowering movement 9. These include the hydraulic cylinder of the flute adjustment drive 10 and all lowered components of the tamping unit 1 as well as components of the processed area of the track 5. In particular, the masses of the lowered components and the resistance to penetration of the ballast bed 6 come into play here.
  • the controller output variable y output by the control element 22 is based on a control difference e which results from the reference variable w minus a feedback variable r.
  • the feedback variable r is the controlled variable x detected by the measuring device 20.
  • the controller 18 determines a numerical manipulated variable (numerical value of) from a difference between a target value (numerical value of the command variable w) and an actual value (numerical value of the measured control variable x)
  • Controller output variable y which is given to the actuator 23.
  • the manipulated variable u then supplied by the controller 18 and the actuator 23 causes the height adjustment drive 10 to be actuated differently, as a result of which the malfunction is counteracted.
  • Tool carrier 8 acting force reduced. If the penetration is too slow, the force is increased. In this way, the lowering movement 9 is always readjusted to the specified command variable w in the event of target deviations.
  • the tamping tools 15 penetrate the ballast bed 6 at the optimum speed and reach the desired penetration depth 17 exactly.
  • the penetration time in the individual tamping cycles is also kept constant.
  • Command variable w to provide a pilot control or a prefilter 26 (FIG. 5).
  • the aim of this measure is a modified reference variable w ', which anticipates the conditions of the controlled system 24. For example, for the lowering path s given as control variable x, a modified curve profile is given over time t, as shown in FIG. 4. The system consisting of tamping unit 1 and processed track 5 then follows this modified reference variable specification with almost no control intervention.
  • a computing unit 27 is provided, to which a control difference e k occurring during a stuffing cycle k is supplied. This control difference e k results from the unmodified reference variable W k minus the
  • Algorithm 28 set up. This is used to use the
  • Control difference e k and the modified command variable w ' k of the stuffing cycle k in question derive an optimized modified command variable w' k + i for the next stuffing cycle k + 1. For this calculation, several past tamping cycles with the ones that occur can also be used
  • Control differences e can be used.
  • Precontrol or prefilter 26 changed.
  • a corresponding setting algorithm 29 is set up in the computing unit 27.
  • the changed pilot control or the changed prefilter 26 brings about a reduction in the control activity, as a result of which the control as a whole is more stable.
  • Initial conditions for the iterative learning control algorithm 28 are either specified by an operator or an assumption is made using an intelligent control.
  • the setpoint generator 21 is designed as a setpoint generator. Similar to one
  • this setpoint generator generates a course of the lowering movement 9, for example as a course of the lowering path s over time t.
  • the setpoint generator supplies the control variable w to the controller 18 or the pilot control or the prefilter 26.
  • the feedback variable r is fed to the setpoint generator in order to detect deviations from the reference variable w.
  • initial conditions are specified either by an operator or by intelligent control based on assumed track parameters.
  • Deviations predefined so that the setpoint generator generates a new course of the lowering path s over time t when the limit value is reached. In this way it is automated to a changed
  • the setpoint generator can also be used at the start of a work assignment
  • Setpoint generator 21, controller 18 and possibly computing unit 26 are set up in a separate electronic circuit or integrated in control device 16.
  • the arrangement of the measuring device 20 takes place, for example, directly on the height adjustment drive 10, with a
  • Hydraulic cylinder with integrated distance measurement makes sense.
  • an evaluation device 30 is provided, to which at least one variable u, e, r of the control loop is supplied in order to derive a parameter for the ballast bed 6.
  • a parameter indicates, for example, whether it is new ballast or heavily compacted and contaminated ballast.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Abstract

L'invention concerne une machine pour la construction de voie ferrée dotée d'un groupe de bourrage (1) destiné à bourrer les traverses (7) d'une voie ferrée (5) situées dans un lit de ballast (6), le groupe de bourrage (1) contenant un porte-outil (8) monté réglable en hauteur sur un châssis (2), sur lequel les outils de bourrage (15) sont disposés de manière à pouvoir être rapprochés l'un de l'autre, ledit porte-outil (8) étant couplé à un entraînement de réglage en hauteur (10) commandé par un dispositif de commande (16). Pour réguler un mouvement de descente (9) du porte-outil (8), il est prévu un circuit de régulation équipé d'un régulateur (18), un dispositif de réglage (19) pour l'entraînement de réglage en hauteur (10) et un dispositif de mesure (20) pour détecter le mouvement de descente (9).
EP19778908.4A 2018-10-24 2019-09-23 Machine pour la construction de voie ferrée et procédé de bourrage sous les traverses d'une voie ferrée Active EP3870757B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA328/2018A AT521850A1 (de) 2018-10-24 2018-10-24 Gleisbaumaschine und Verfahren zum Unterstopfen von Schwellen eines Gleises
PCT/EP2019/075451 WO2020083584A1 (fr) 2018-10-24 2019-09-23 Machine pour la construction de voie ferrée et procédé de bourrage sous les traverses d'une voie ferrée

Publications (3)

Publication Number Publication Date
EP3870757A1 true EP3870757A1 (fr) 2021-09-01
EP3870757C0 EP3870757C0 (fr) 2023-11-15
EP3870757B1 EP3870757B1 (fr) 2023-11-15

Family

ID=68072357

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19778908.4A Active EP3870757B1 (fr) 2018-10-24 2019-09-23 Machine pour la construction de voie ferrée et procédé de bourrage sous les traverses d'une voie ferrée

Country Status (11)

Country Link
US (1) US12049731B2 (fr)
EP (1) EP3870757B1 (fr)
JP (1) JP7389115B2 (fr)
CN (1) CN112789379A (fr)
AT (1) AT521850A1 (fr)
AU (1) AU2019363551B2 (fr)
CA (1) CA3111338A1 (fr)
EA (1) EA202100085A1 (fr)
ES (1) ES2970993T3 (fr)
PL (1) PL3870757T3 (fr)
WO (1) WO2020083584A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT523900A1 (de) * 2020-06-08 2021-12-15 Hp3 Real Gmbh Verfahren zur automatischen autonomen Steuerung einer Stopfmaschine
AT524005B1 (de) * 2020-07-03 2025-03-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Verfahren und Maschine mit einem Stopfaggregat
AT523825B1 (de) * 2020-07-03 2021-12-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Maschine und Verfahren mit einem Stopfaggregat
AT527392A1 (de) 2023-06-27 2025-01-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Verfahren und Gleisbaumaschine zum Unterstopfen von Schwellen eines Gleises

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JPS5842321B2 (ja) * 1975-06-14 1983-09-19 芝浦メカトロニクス株式会社 ドウシヨウシメカタメソウチ
CH614475A5 (en) * 1978-06-29 1979-11-30 Sig Schweiz Industrieges Railway line tamping machine
AT364383B (de) * 1979-02-26 1981-10-12 Plasser Bahnbaumasch Franz Gleisstopfmaschine mit stopftiefensteuerung
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ES2101605T3 (es) 1994-08-09 1997-07-01 Plasser Bahnbaumasch Franz Grupo de bateado para maquinas bateadoras de vias ferreas, para el entrebateado de dos traviesas inmediatamente contiguas.
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JP6243385B2 (ja) * 2015-10-19 2017-12-06 ファナック株式会社 モータ電流制御における補正値を学習する機械学習装置および方法ならびに該機械学習装置を備えた補正値計算装置およびモータ駆動装置
AT517843B1 (de) * 2015-11-24 2017-05-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Verfahren sowie Stopfaggregat zum Unterstopfen eines Gleises
AT518324B1 (de) * 2016-02-16 2018-04-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Gleisbaumaschine und Verfahren zur Verdichtung eines Schotterbettes
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AT519195B1 (de) 2016-10-04 2019-05-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Stopfaggregat und Verfahren zum Unterstopfen von Schwellen eines Gleises
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CN107419625B (zh) * 2017-06-24 2023-05-23 淄博洁翔机电科技开发有限公司 全自动数控液压道岔捣固车
CN206887648U (zh) * 2017-06-24 2018-01-16 淄博洁翔机电科技开发有限公司 全自动数控液压道岔捣固车
CN107090752A (zh) * 2017-06-24 2017-08-25 淄博洁翔机电科技开发有限公司 小型自动液压起道捣固车
AT520698B1 (de) * 2017-12-07 2020-09-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Verfahren und System zur Belastungsüberwachung eines Stopfaggregates
AT520796B1 (de) * 2017-12-21 2020-07-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Stopfaggregat zum Unterstopfen von Schwellen eines Gleises

Also Published As

Publication number Publication date
CN112789379A (zh) 2021-05-11
AU2019363551A1 (en) 2021-03-25
EP3870757C0 (fr) 2023-11-15
JP2022505726A (ja) 2022-01-14
AU2019363551B2 (en) 2024-09-26
EA202100085A1 (ru) 2021-08-31
JP7389115B2 (ja) 2023-11-29
WO2020083584A1 (fr) 2020-04-30
PL3870757T3 (pl) 2024-04-08
ES2970993T3 (es) 2024-06-03
EP3870757B1 (fr) 2023-11-15
US12049731B2 (en) 2024-07-30
US20220056647A1 (en) 2022-02-24
CA3111338A1 (fr) 2020-04-30
AT521850A1 (de) 2020-05-15

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