Design Of Automatic Cleaning Device For The Third Rail In Subway

The third rail power supply system is one of the main power supply modes for urban rail transit traction.The third rail power supply of trains will affect their power supply performance and vehicle operation stability due to surface contamination of the third rail power supply system.It is necessary to maintain and clean the third rail regularly.Because the third rail is live and installed on the ground,there are problems such as high risk coefficient,low cleaning efficiency and poor cleaning quality in manual cleaning,and the working environment of workers is relatively harsh.It is of great significance to develop an energy-saving and pollution-free automatic cleaning device for the third rail instead of manual cleaning.Water jet cleaning has the advantages of no damage to the cleaning object,no pollution to the environment and high cleaning quality.Based on the water jet cleaning technology,the overall design of the third rail cleaning device is carried out to realize the high-quality automatic cleaning of the third rail.According to the structural characteristics and cleaning requirements of the third rail,the structural characteristics and cleaning mechanism of water jet are analyzed and studied,the nozzle structural parameters and jet hydraulic parameters of the third rail water jet cleaning are determined,and the rationality of parameter selection is verified by experiments,and the water jet cleaning system is designed.Combined with the working area to be cleaned of the third rail,the structural design scheme of fixed cleaning device and servo cleaning device is put forward,the control system of servo cleaning device is designed,and the cleaning process is described.The influence of track factors and vehicle factors on the vibration offset of the cleaning vehicle is studied.The horizontal and vertical offset laws of the cleaning vehicle body and bogie frame when they statically pass through the plane curve and vertical curve track are analyzed,and the vehicle model is established by using the multi-body dynamics software SIMPACK for dynamic simulation.According to the simulation analysis results,the installation position,stroke and dynamic response frequency of the servo cleaning device are determined,which provides a certain basis for the structural design and control system design of the follow-up third rail servo cleaning device.Based on the key design parameters,the specific structure of the servo cleaning device is designed.The static and dynamic analysis of the telescopic arm structure of the device is carried out by using the finite element analysis software ANSYS Workbench.It is verified that the designed cleaning device meets the requirements of strength and stiffness and will not produce resonance at the same time.Combined with the analysis results of the installation position of ranging sensor and fixed cleaning device,the layout design of the third rail cleaning vehicle is carried out.The electro-hydraulic servo control system of servo cleaning device is designed,and the mathematical model of the control system is deduced and established.The stability and dynamic performance of the system are analyzed by using the simulation software MATLAB Simulink.Based on the working principle of PID control and fuzzy control,an adaptive fuzzy PID controller is designed and simulated on the basis of the original system.The analysis results verify the feasibility and superiority of the adaptive fuzzy PID controller.Finally,the adaptive fuzzy PID controller is applied to the trajectory tracking simulation test of the servo cleaning device.The test results show that the servo cleaning device can effectively track the input trajectory and meet the accuracy requirements of the control system.